Shonal Singh

Publications

5 Swarm Navigation in a Complex Environment

Authors: Bibhya Sharma, Jito Vanualailai, Shonal Singh, Jai Raj

Abstract:

This paper proposes a solution to the motion planning and control problem of car-like mobile robots which is required to move safely to a designated target in a priori known workspace cluttered with swarm of boids exhibiting collective emergent behaviors. A generalized algorithm for target convergence and swarm avoidance is proposed that will work for any number of swarms. The control laws proposed in this paper also ensures practical stability of the system. The effectiveness of the proposed control laws are demonstrated via computer simulations of an emergent behavior.

Keywords: Motion Planning, Swarm, practical stability, emergent

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4 Autonomous Control of Multiple Mobile Manipulators

Authors: Bibhya Sharma, Jito Vanualailai, Avinesh Prasad, Shonal Singh

Abstract:

This paper considers the autonomous navigation problem of multiple n-link nonholonomic mobile manipulators within an obstacle-ridden environment. We present a set of nonlinear acceleration controllers, derived from the Lyapunov-based control scheme, which generates collision-free trajectories of the mobile manipulators from initial configurations to final configurations in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulators with results through computer simulations of an interesting scenario.

Keywords: lyapunov stability, artificial potential fields, kinodynamic constraints, Lyapunov-based control scheme, minimum distance technique, nonholonomic manipulator

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3 Trajectory Tracking Using Artificial Potential Fields

Authors: Jito Vanualailai, Shonal Singh, Krishna S. Raghuwaiya

Abstract:

In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.

Keywords: Control, Lyapunov, trajectory tracking

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2 Autonomous Control of a Mobile Manipulator

Authors: Bibhya Sharma, Jito Vanualailai, Shonal Singh

Abstract:

This paper considers the design of a motion planner that will simultaneously accomplish control and motion planning of a n-link nonholonomic mobile manipulator, wherein, a n-link holonomic manipulator is coupled with a nonholonomic mobile platform, within an obstacle-ridden environment. This planner, derived from the Lyapunov-based control scheme, generates collision-free trajectories from an initial configuration to a final configuration in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulator with results through computer simulations of an interesting scenario.

Keywords: lyapunov stability, artificial potential fields, kinodynamic constraints, minimum distance technique, nonholonomic manipulator, Lyapunov-based control scheme

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1 Formation Control of Mobile Robots

Authors: Jito Vanualailai, Shonal Singh, Krishna S. Raghuwaiya

Abstract:

In this paper, we study the formation control problem for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations

Keywords: Control, Formation, Lyapunov, nonholonomic

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