Presentacion Robótica

Mobile Robotics and Group Coordination
Dra. America B. Morales Daz
Hugo Gutierrez Flores

Flabio Dario Mirelez Delgado
Hector Manuel Perez Villeda
Robotics and advanced manufacturing
April 30, 2014
Introduction
Coordination of an unicycle robot group
Different topologies analysis
Collision avoidance strategy
Delay problem analysis
Conclusions and future trends
Outline
1 Introduction
Aim
2 Coordination of an unicycle robot group
Simulation control
Experiments
3 Different topologies analysis
Analysis
Experiments
4 Collision avoidance strategy
Definition
Simulations
Experiments
5 Delay problem analysis
6 Conclusions and future trends
Dra. Am
erica Morales (CINVESTAV Saltillo)
April 30, 2014
2 / 38
Introduction
Aim
Main purposes
To keep a robot group in a formation.

To merge and remove robots.
To test different topologies in an robot group.
Collision avoidance.
The delay effect.
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April 30, 2014
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Introduction
Simulation control
Experiments
Fig. 1 : The actual and desired coordinates of the unicycle eq. (1).
xi = vi cos(i )
yi = vi sin(i )
i = i
Dra. Am
(1)
April 30, 2014
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Introduction
Simulation control
Experiments
xei = cosi (xri xi ) + sini (yri yi )

yei = sini (xri xi ) + cosi (yri yi )
ei = ri i
(2)
x ei = i yei vi + vri cosei

y ei = i xei + vri sinei
ei = ri i
(3)
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April 30, 2014
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Introduction
Simulation control
Experiments
Fig. 2 : A formation composed of 4 vehicles with a known virtual

center.
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April 30, 2014
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Introduction
Simulation control
Experiments
all-to-all syncronization control

"
vi = vri cos ei + Kxi xei +
n
X
#
Cijx (xie xje )
(4)
j=1
sin ei KCyi
i = ri + Ki ei + vri
+
ei i
"
#
n
X
yei +
Cijy (yie yje ) ; for i 6= j
(5)
j=1
with i =
q
P
K 2 + (xei )2 + (yei )2 + nj=1 [(xei xej )2 + (yei yej )2 ]
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April 30, 2014
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Introduction
Simulation control
Experiments
x1(0),y1(0)
Robot1
x2(0),y2(0)
0.6
Robot2
x3(0),y3(0)
Robot3
0.4
Trajectory
yr ,y
0.2
0.2
0.4
0.6
0.4
0.2
0.2
0.4
0.6
0.8
xri,xi
Fig. 3 : Tracking evolution with control (4) and (5) for three robots
swarm.
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Introduction
Simulation control
Experiments
Tracking and coupling errors

0.6
xe1
xe2
0.5
xe3
xe1xe2
0.4
xe1xe3
xe2xe3
xei, xeixej
0.3
0.2
0.1
0.1
0.2
10
15
20
25
30
35
40
45
50
time (seconds)
ye1
y
e2
ye3
ye1ye2
y y
e1
0.5
e3
yei, yeiyej
ye2ye3
0.5
0
10
15
20
25
30
35
40
45
50
time (seconds)
Fig. 4 : Evolution of cartesian and angular tracking and coupling errors

for three coupling robots with control.
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April 30, 2014
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Introduction
Simulation control
Experiments
Cartesian trajectories
0.8
0.6
0.4
yri, yi
0.2
0.2
x1(0),y1(0)
0.4
Robot1
x2(0),y2(0)
Robot2
0.6
x (0),y (0)
3
Robot
Trajectory
0.8
0.8
0.6
0.4
0.2
x ,x
0.2
0.4
0.6
0.8
ri i
Fig. 5 : Entrance of a new element in the formation.

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April 30, 2014
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Introduction
Simulation control
Experiments
Cartesian trajectories
0.8
x (0),y (0)
1
Robot1
x2(0),y2(0)
0.6
Robot2
x3(0),y3(0)
Robot3
0.4
yri, yi
0.2
0.2
0.4
0.6
0.8
0.8
0.6
0.4
0.2
xri, xi
0.2
0.4
0.6
0.8
Fig. 6 : Three robots synchronized in experiments: entrance of robot 2.

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April 30, 2014
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Introduction
Simulation control
Experiments
Angular velocity
2
Robot 1
Robot 2
Robot 3
1.5
Disturbance in
Robot 2
Robot 2
enters to the
formation
Disturbance
Robot 2
0.5
(rad/s)
Disturbance
Robot 1
0.5
Disturbance in
Robot 1
1
50
100
150
200
time (seconds)
Fig. 7 : Angular velocity for control in experiments: entrance of robot

2.
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April 30, 2014
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Introduction
0.8
Simulation control
Experiments
Cartesian trajectories: multiple merging

merging of
new robots
x1(0),y1(0)
Robot1
x2(0),y2(0)
Robot
0.6
x3(0),y3(0)
Robot3
x (0),y (0)
4
0.4
Robot
x (0),y (0)
5
Robot
x6(0),y6(0)
0.2
Robot
ri
y ,y
0.2
0.4
0.6
0.8
0.8
0.6
0.4
0.2
xri, xi
0.2
0.4
0.6
0.8
Fig. 8 : Incorporation of several robots with controller in experiments:

XY coordinates.
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Introduction
Analysis
Experiments
all-to-all syncronization control

Position and coupling errors
converge to zero in the face
of a perturbation.
Each individual robot
controller needs the state
information of all the others
robots.
The computation time
increases with the number of
robots.
The transient has a
underdamped behavior.
Dra. Am
Fig. 9 : Mutual couplings graph.

April 30, 2014
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Introduction
Analysis
Experiments
different conectivities
Fig. 10 : Different couplings between robots.

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Introduction
Analysis
Experiments
Experimental setup
Fig. 11 : Setup Arena.

Dra. Am
Fig. 12 : E-puck robots.

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Introduction
Analysis
Experiments
Experimental formation example
Fig. 13 : Square formation.

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Introduction
Analysis
Experiments
Accumulated errors
n
n
n
X
X
1 X
=
exi +
eyi
ei
T i=1
i=1
i=1
(6)
n
n
n
X
X
1 X
=
ecxi +
ecyi
eci
T i=1
i=1
i=1
(7)
Etrack
Ecoup
Etotal = Etrack + Ecoup
(8)
where exi , eyi , ei are the position errors, ecxi , ecyi are the coupling
errors and T is the sampling time.
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Introduction
Analysis
Experiments
Results: configuration A and F

Accumulated tracking error
Accumulated tracking error

10
5
0
20
40
60
80
100
120
Accumulated coupling error
0.4
0.4
0.2
0.2
20
40
60
80
100
120
20
40
60
80
Accumulated coupling error
100
120
20
40
60
80
Total accumulated error
100
120
20
40
100
120
Total acumulated error

10
5
0
20
40
60
Time (seg)
80
100
Fig. 14 : Accum. errors, config.

A.
Dra. Am
120
60
Time (seg)
80
Fig. 15 : Accum. errors, config.

F.
April 30, 2014
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Introduction
Definition
Simulations
Experiments
dij =
=
=
(xi xj )2 + (yi yj )2

[xy ] : (x, y ) R2 , dij r

[xy ] : (x, y ) R2 , r < dij R
Fig. 16 : Avoidance
Regions.
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April 30, 2014
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Introduction
Definition
Simulations
Experiments
Definition of regions
f ci = 1
1
1000 exp(50dij )
Fig. 17 : Potential function.

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April 30, 2014
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Introduction
Definition
Simulations
Experiments
Change on the reference trajectory

New position on the local frame
pyi0 = pyi + i fci
(9)
Velocities on the inertial frame

x ri0 = x ri i fci sin ri i fci ri cos(ri )
y ri0 = y ri i fci cos ri + i fci ri sin(ri )
(10)
(11)
Accelerations on the inertial frame

xri0 = xri (i fci i fci ri2 ) sin(ri ) + (2i fci ri ...
yri0
i fci ri ) cos(ri )
= yri + (i fci i fci ri2 ) cos(ri ) + (2i fci ri ...
i fci ri ) sin(ri )
Dra. Am
April 30, 2014
(12)
(13)
22 / 38
Introduction
Definition
Simulations
Experiments
Simulation: two robots

Two robots in the same path, opposite directions.
Cartesian coordinates
0.5
0.4
0.3
x (0),y (0)
1
yri , yi
0.2
Robot1
0.1
Reference
x2(0),y2(0)
Robot
0.1
0.2
0.3
0.4
0.5
0.5
xri , xi
0.5
Fig. 18 : Cooperative collision avoidance betweeen two robots.

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April 30, 2014
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Introduction
Definition
Simulations
Experiments
Results: errors
X errors
meters
0.1
0
0.1
20
40
60
Y errors
80
100
120
20
40
60
theta errors
80
100
120
20
40
60
time(sec)
80
100
120
meters
0.1
0
0.1
rad
0.2
0
0.2
Fig. 19 : Data acquisition for our collision avoidance strategy.

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April 30, 2014
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Introduction
Definition
Simulations
Experiments
Simulation: Two formations

Two formations in the same path, opposite directions.
Cartesian coordinates
1
0.8
0.6
Robot
yri , yi
0.4
Robot2
0.2
Robot3
Robot
Robot5
Robot
0.2
0.4
0.6
1
0.8
4
1
1
0.5
6
0
xri , xi
0.5
Fig. 20 : Cooperative collision avoidance betweeen two formations

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Introduction
Definition
Simulations
Experiments
Experiments: Implementation
Fig. 21 : Data acquisition for our collision avoidance strategy.

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Introduction
Definition
Simulations
Experiments
Inertial data adquisition
Fig. 22 : Microcontroller Arduino board with embedded IMU.

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April 30, 2014
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Introduction
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Definition
Simulations
Experiments
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Introduction
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Definition
Simulations
Experiments
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Introduction
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Definition
Simulations
Experiments
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Introduction
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Definition
Simulations
Experiments
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Introduction
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Introduction
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Introduction
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Introduction
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Introduction
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Introduction

Group coordination in a robot group is an interesting topic that has
been receive a lot of attention the las decade.
Many applications have been done: drones, surveillance, map
recognition, exploration, in the fuel company, among others.
Future trends can be encountered in:
Automated highways (AHDA see:
https://www.youtube.com/watch?v=4pMO475heog)
Manufacturing systems (see Kiva Systems,
https://www.youtube.com/watch?v=lWsMdN7HMuA).
In the future trends we have coordination in unstructured
environments for service robot at home and also in the industry in
general for un identical robots.
Dra. Am
April 30, 2014
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Introduction
Thanks!, questions?
{america.morales,hugo.gutierrez,hector.perez,flabio.mirelez}@cinvestav.edu.mx
Dra. Am
April 30, 2014
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Mobile Robotics and Group Coordination

Dra. America B. Morales Daz

Hugo Gutierrez Flores

April 30, 2014

April 30, 2014

To keep a robot group in a formation.

April 30, 2014

xei = cosi (xri xi ) + sini (yri yi )

x ei = i yei vi + vri cosei

April 30, 2014

Fig. 2 : A formation composed of 4 vehicles with a known virtual

April 30, 2014

all-to-all syncronization control

April 30, 2014

April 30, 2014

Tracking and coupling errors

Fig. 4 : Evolution of cartesian and angular tracking and coupling errors

April 30, 2014

Fig. 5 : Entrance of a new element in the formation.

April 30, 2014

Fig. 6 : Three robots synchronized in experiments: entrance of robot 2.

April 30, 2014

Fig. 7 : Angular velocity for control in experiments: entrance of robot

April 30, 2014

Cartesian trajectories: multiple merging

Fig. 8 : Incorporation of several robots with controller in experiments:

April 30, 2014

all-to-all syncronization control

Fig. 9 : Mutual couplings graph.

Fig. 10 : Different couplings between robots.

April 30, 2014

Fig. 11 : Setup Arena.

Fig. 12 : E-puck robots.

Experimental formation example

Fig. 13 : Square formation.

April 30, 2014

Etotal = Etrack + Ecoup

April 30, 2014

Results: configuration A and F

Accumulated tracking error

Accumulated coupling error

Total acumulated error

Fig. 14 : Accum. errors, config.

Fig. 15 : Accum. errors, config.

Collision avoidance strategy

April 30, 2014

Fig. 17 : Potential function.

April 30, 2014

Change on the reference trajectory

Velocities on the inertial frame

Accelerations on the inertial frame

April 30, 2014

Simulation: two robots

Fig. 18 : Cooperative collision avoidance betweeen two robots.

April 30, 2014

Fig. 19 : Data acquisition for our collision avoidance strategy.

April 30, 2014

Simulation: Two formations

Fig. 20 : Cooperative collision avoidance betweeen two formations

April 30, 2014

Fig. 21 : Data acquisition for our collision avoidance strategy.

April 30, 2014

Inertial data adquisition

Fig. 22 : Microcontroller Arduino board with embedded IMU.