Coordination control and obstacle avoidance for a team of mobile robots in unknown environment Online publication date: Thu, 07-Jan-2021
by Sucheta Roy; Md Assad-Uz-Zaman; Mohammad Habibur Rahman; Md Suruz Miah
International Journal of Modelling, Identification and Control (IJMIC), Vol. 34, No. 4, 2020
Abstract: This paper presents a dual-level control structure for controlling a mobile robot and/or a team of mobile robots to navigate through an unknown (static or dynamic) environment. The higher-level controller operates in cooperation with robot's state estimation and mapping algorithm, extended Kalman filter - simultaneous localisation and mapping (EKF-SLAM), and the lower-level controller (PID) controls the motion of the robot when it encounters an obstacle and manoeuvres the robot around the obstacle/s. The higher-level controller jumps in as soon as the robot is out of the obstacle range and moves the robot to the goal. The obstacle avoidance technique involves a novel approach to calculate the rebound angle. The experimental results show that the proposed dual-level control structure can be effectively used to manoeuvre a mobile robot or a team of mobile robots to navigate through a dynamic environment.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Modelling, Identification and Control (IJMIC):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook