Control of mobile robot formations using A-star algorithm and artificial potential fields Article Swipe
Nelson Luis Manuel
,
Nihat İnanç
,
Mustafa Yasin Erten
·
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.14203/j.mev.2021.v12.57-67
YOU?
·
· 2021
· Open Access
·
· DOI: https://doi.org/10.14203/j.mev.2021.v12.57-67
Formations or groups of robots become essential in cases where a single robot is insufficient to satisfy a given task. With an increasingly automated world, studies on various topics related to robotics have been carried out in both the industrial and academic arenas. In this paper, the control of the formation of differential mobile robots based on the leader-follower approach is presented. The leader's movement is based on the least cost path obtained by the A-star algorithm, thus ensuring a safe and shortest possible route for the leader. Follower robots track the leader's position in real time. Based on this information and the desired distance and angle values, the leader robot is followed. To ensure that the followers do not collide with each other and with the obstacles in the environment, a controller based on Artificial Potential Fields is designed. Stability analysis using Lyapunov theory is performed on the linearized model of the system. To verify the implemented technique, a simulator was designed using the MATLAB programming language. Seven experiments are conducted under different conditions to show the performance of the approach. The distance and orientation errors are less than 0.1 meters and 0.1 radians, respectively. Overall, mobile robots are able to reach the goal position, maintaining the desired formation, in finite time.
Related Topics
Concepts
Robot
Mobile robot
Robotics
Controller (irrigation)
Position (finance)
Computer science
Lyapunov function
Stability (learning theory)
Artificial intelligence
MATLAB
Lyapunov stability
Orientation (vector space)
Simulation
Control engineering
Control theory (sociology)
Control (management)
Algorithm
Engineering
Mathematics
Nonlinear system
Machine learning
Economics
Operating system
Finance
Biology
Agronomy
Physics
Geometry
Quantum mechanics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.14203/j.mev.2021.v12.57-67
- https://mev.lipi.go.id/mev/article/download/559/pdf
- OA Status
- diamond
- Cited By
- 8
- References
- 18
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4205820547
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4205820547Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.14203/j.mev.2021.v12.57-67Digital Object Identifier
- Title
-
Control of mobile robot formations using A-star algorithm and artificial potential fieldsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-12-31Full publication date if available
- Authors
-
Nelson Luis Manuel, Nihat İnanç, Mustafa Yasin ErtenList of authors in order
- Landing page
-
https://doi.org/10.14203/j.mev.2021.v12.57-67Publisher landing page
- PDF URL
-
https://mev.lipi.go.id/mev/article/download/559/pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
diamondOpen access status per OpenAlex
- OA URL
-
https://mev.lipi.go.id/mev/article/download/559/pdfDirect OA link when available
- Concepts
-
Robot, Mobile robot, Robotics, Controller (irrigation), Position (finance), Computer science, Lyapunov function, Stability (learning theory), Artificial intelligence, MATLAB, Lyapunov stability, Orientation (vector space), Simulation, Control engineering, Control theory (sociology), Control (management), Algorithm, Engineering, Mathematics, Nonlinear system, Machine learning, Economics, Operating system, Finance, Biology, Agronomy, Physics, Geometry, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
8Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 2, 2023: 1, 2022: 5Per-year citation counts (last 5 years)
- References (count)
-
18Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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