Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781454
U. Diala, Yunpeng Zhu, Z. Lang
This paper focuses on the effect of nonlinearities on the energy dissipation capability of a vehicle suspension system. The effect of the nonlinear parameters of interest, on the energy dissipation characteristics of the suspension system, was investigated. The suspension system is modelled as a mass-spring-damper system, which is, firstly, designed using the output frequency response function (OFRF) method. The OFRF method facilitates the derivation of an explicit relationship between the system output spectrum and its nonlinear parameters of interest. Thereafter, the effects of the nonlinear parameters, on the energy dissipation level, by the suspension system, is investigated. The results reveal the significant effect of nonlinear damping, on the energy dissipation level of suspension systems, compared to the nonlinear stiffness.
{"title":"Analysis of the energy dissipation characteristics of a nonlinear vehicle suspension system","authors":"U. Diala, Yunpeng Zhu, Z. Lang","doi":"10.1109/Control55989.2022.9781454","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781454","url":null,"abstract":"This paper focuses on the effect of nonlinearities on the energy dissipation capability of a vehicle suspension system. The effect of the nonlinear parameters of interest, on the energy dissipation characteristics of the suspension system, was investigated. The suspension system is modelled as a mass-spring-damper system, which is, firstly, designed using the output frequency response function (OFRF) method. The OFRF method facilitates the derivation of an explicit relationship between the system output spectrum and its nonlinear parameters of interest. Thereafter, the effects of the nonlinear parameters, on the energy dissipation level, by the suspension system, is investigated. The results reveal the significant effect of nonlinear damping, on the energy dissipation level of suspension systems, compared to the nonlinear stiffness.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128460807","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781361
Linxiao Li, Saikat Dutta, R. Dixon, E. Stewart
Track switches (also known as "point" or "turnout") are essential to the railway system and provide route flexibility by allowing vehicles to move between tracks on the network. However, the single actuators in the current switch technology mean that a single actuator fault will result in the failure of the switch (and the concomitant delays to trains waiting to pass the switch). This paper focuses on providing redundant actuation through an approach known as High Redundancy Actuation (HRA), which might allow track switches to remain operational after failure in actuator elements. The paper also proposes the use of closed-loop control (track switches are usually operated open-loop). In the paper, we introduce a model of a C-type switch and validate it against results from a previous paper. This model is then used combined with an HRA of nine elements (3x3). Two closed-loop controllers are then proposed for each of the single actuator and the HRA actuator system. The findings indicate that closed-loop control on its own has some benefits. However, when combined with HRA, the resulting system is able to tolerate a number of faults in the actuator subsystems, creating an effective graceful degradation rather than the sudden failure with a traditional single actuator.
{"title":"Fault Tolerant Actuation of a Railway Track Switch: a Simulation Study","authors":"Linxiao Li, Saikat Dutta, R. Dixon, E. Stewart","doi":"10.1109/Control55989.2022.9781361","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781361","url":null,"abstract":"Track switches (also known as \"point\" or \"turnout\") are essential to the railway system and provide route flexibility by allowing vehicles to move between tracks on the network. However, the single actuators in the current switch technology mean that a single actuator fault will result in the failure of the switch (and the concomitant delays to trains waiting to pass the switch). This paper focuses on providing redundant actuation through an approach known as High Redundancy Actuation (HRA), which might allow track switches to remain operational after failure in actuator elements. The paper also proposes the use of closed-loop control (track switches are usually operated open-loop). In the paper, we introduce a model of a C-type switch and validate it against results from a previous paper. This model is then used combined with an HRA of nine elements (3x3). Two closed-loop controllers are then proposed for each of the single actuator and the HRA actuator system. The findings indicate that closed-loop control on its own has some benefits. However, when combined with HRA, the resulting system is able to tolerate a number of faults in the actuator subsystems, creating an effective graceful degradation rather than the sudden failure with a traditional single actuator.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122281710","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781372
O. Albrecht, C. J. Taylor
An algorithm to investigate nonlinear systems with time delay variability is proposed. It automatically cycles through segments of an open loop experiment, capturing the directional change in the output via a pair of regression equations, and estimates the time delay accordingly. The method is a blackbox, statistical approach that does not require a dynamic model nor any knowledge of the systematic causes of the time delay variability. It is designed for systems with approximately integrating behaviour, hence it is used in this article for the analysis of hydraulically actuated robotic manipulators with this characteristic and time-varying delays. In the context of control, the new algorithm provides insight into the variable time delay behaviour and hence can guide control design decisions e.g. by uncovering state dependencies.
{"title":"A linear regression variable time delay estimation algorithm for the analysis of hydraulic manipulators","authors":"O. Albrecht, C. J. Taylor","doi":"10.1109/Control55989.2022.9781372","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781372","url":null,"abstract":"An algorithm to investigate nonlinear systems with time delay variability is proposed. It automatically cycles through segments of an open loop experiment, capturing the directional change in the output via a pair of regression equations, and estimates the time delay accordingly. The method is a blackbox, statistical approach that does not require a dynamic model nor any knowledge of the systematic causes of the time delay variability. It is designed for systems with approximately integrating behaviour, hence it is used in this article for the analysis of hydraulically actuated robotic manipulators with this characteristic and time-varying delays. In the context of control, the new algorithm provides insight into the variable time delay behaviour and hence can guide control design decisions e.g. by uncovering state dependencies.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114440097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781371
Mingjie Chu, Long Zhang
The conventional system identification, which is a branch of machine learning, takes advantages of the whole sampling data to identify the system. To identify a system with less sampling density, compressive sensing is applied on system identification, which randomly extracts the sampling data from the system response. Hence a novel identification procedure is proposed using compressive sensing techniques. Then a second order system is selected as the system to be identified using such identification procedure. The identification performances of estimated systems are investigated from the scenario randomly extracting 10% of total sampling data to the scenario using 90% of total sampling data. Each scenario consists of three noise cases with different levels of SNRs to test the robustness of the signal recovery algorithms of compressive sensing. The results show that the system identification using compressive sensing has are relatively high identification performance and is robust to noise when using 30% or more of total sampling data.
{"title":"A System Identification Procedure Using Compressive Sensing","authors":"Mingjie Chu, Long Zhang","doi":"10.1109/Control55989.2022.9781371","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781371","url":null,"abstract":"The conventional system identification, which is a branch of machine learning, takes advantages of the whole sampling data to identify the system. To identify a system with less sampling density, compressive sensing is applied on system identification, which randomly extracts the sampling data from the system response. Hence a novel identification procedure is proposed using compressive sensing techniques. Then a second order system is selected as the system to be identified using such identification procedure. The identification performances of estimated systems are investigated from the scenario randomly extracting 10% of total sampling data to the scenario using 90% of total sampling data. Each scenario consists of three noise cases with different levels of SNRs to test the robustness of the signal recovery algorithms of compressive sensing. The results show that the system identification using compressive sensing has are relatively high identification performance and is robust to noise when using 30% or more of total sampling data.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129473163","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781448
Haoran Zhang, E. Prempain
This paper presents a non-linear model predictive controller for offset-free tracking and disturbance rejection of arbitrary constant (or piecewise-constant) set-points and/or disturbances. The control problem consists of regulating the non-linear plant dynamics augmented with the integral of the tracking error of the variables to be controlled. This simple approach offers tracking and disturbance rejection against unknown set-points and/or disturbances. The proposed approach is successfully applied to a highly non-linear, coupled, water-tank process which exhibits both minimum and non-minimum phase characteristics.
{"title":"Non-linear Model Predictive Control of a Quadruple-Tank Process","authors":"Haoran Zhang, E. Prempain","doi":"10.1109/Control55989.2022.9781448","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781448","url":null,"abstract":"This paper presents a non-linear model predictive controller for offset-free tracking and disturbance rejection of arbitrary constant (or piecewise-constant) set-points and/or disturbances. The control problem consists of regulating the non-linear plant dynamics augmented with the integral of the tracking error of the variables to be controlled. This simple approach offers tracking and disturbance rejection against unknown set-points and/or disturbances. The proposed approach is successfully applied to a highly non-linear, coupled, water-tank process which exhibits both minimum and non-minimum phase characteristics.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128419852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781457
D. Rogers, M. Ebrahimi
Digital twinning approaches for high-value propulsion system assets is a growing trend, currently seen in renewables, marine and aviation markets. The benefits of this approach, involving "living-learning" models for diagnostic, prognostic and system optimizations are suggested in literature as many. When deploying such an approach, there are many discussions and decisions around modelling techniques to deploy, and the required fidelity of such models. It can be assumed though that the greater the potential to gain real measurement data, the greater the opportunity to improve the overall system model accuracy.This paper develops a model of a previously overlooked but essential part of the engine control system - the measuring chain relating to the closed-loop engine combustion controller. This part of the system performs an essential role to provide real-time data for the engine control loop, to be able to optimize the engine performance on a cylinder-by-cylinder, cycle-by-cycle basis. However, failure of this part of the system can often be impossible to distinguish from an engine fault when there is no knowledge of the system health of the measuring chain. Therefore, performance monitoring of this sub-system is of high value to the end-user, to fully optimize and potentially decarbonize their engine system, in combination with digital twin methods.
{"title":"Digital Twinning for condition monitoring of Marine Propulsion Assets","authors":"D. Rogers, M. Ebrahimi","doi":"10.1109/Control55989.2022.9781457","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781457","url":null,"abstract":"Digital twinning approaches for high-value propulsion system assets is a growing trend, currently seen in renewables, marine and aviation markets. The benefits of this approach, involving \"living-learning\" models for diagnostic, prognostic and system optimizations are suggested in literature as many. When deploying such an approach, there are many discussions and decisions around modelling techniques to deploy, and the required fidelity of such models. It can be assumed though that the greater the potential to gain real measurement data, the greater the opportunity to improve the overall system model accuracy.This paper develops a model of a previously overlooked but essential part of the engine control system - the measuring chain relating to the closed-loop engine combustion controller. This part of the system performs an essential role to provide real-time data for the engine control loop, to be able to optimize the engine performance on a cylinder-by-cylinder, cycle-by-cycle basis. However, failure of this part of the system can often be impossible to distinguish from an engine fault when there is no knowledge of the system health of the measuring chain. Therefore, performance monitoring of this sub-system is of high value to the end-user, to fully optimize and potentially decarbonize their engine system, in combination with digital twin methods.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130913711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781436
Bilal M. Abduraxman, C. Ward, William J. B. Midgley
Many electrified rail vehicles draw traction power using current collection systems that consists of overhead contact wires and pantographs mounted on top of the vehicles. The quality of power transmission depends on a stable and sufficient contact force between the contact wire and the pantograph. The quality of contact also sets a limit for higher vehicle speeds by limiting the transmission of electrical power required. The contact force from the pantograph is expected to handle external disturbances/vibrations, such as winds and vibrations from vehicle-track interactions; and also the changing catenary parameters such as deviations from initial design heights. Too high a contact force leads to undue wear on both the contact strip of the pantograph head and the contact wire, while insufficient contact forces lead to arcing and loss of contact. Modelling and active control of pantograph-catenary systems (PCS) has received increasing attention in the literature [1] - [3] . Existing passive pantographs are primarily limited to provide only the uplift force vertically. However, under extreme wind conditions, the combined lateral deviation of the contact wire and the pantograph from the track centre can lead to loss of contact or even dewirement. Adding extra degrees of freedom in the pantograph is a potential means to resolve these issues and prior research on active pantographs are mainly limited to the vertical degree-of-freedom (DOF). This paper will present a 2D modelling of a PCS system and the preliminary results of 2D control performance and effort required in contact tracking by an active sliding pantograph. The 2D model will incorporate an enhanced contact wire model presented by the authors previous work [3] . The active pantograph will feature a narrow collector head and is able to slide in sway on top of the train to track the moving contact wire. The research will help investigate the feasibility of laterally-actuated pantographs for unlocking lower mass designs and mechanically simpler catenaries.
{"title":"A Dynamic Model for 2D Pantograph-Catenary Systems for Contact Tracking with Narrow Collector Head","authors":"Bilal M. Abduraxman, C. Ward, William J. B. Midgley","doi":"10.1109/Control55989.2022.9781436","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781436","url":null,"abstract":"Many electrified rail vehicles draw traction power using current collection systems that consists of overhead contact wires and pantographs mounted on top of the vehicles. The quality of power transmission depends on a stable and sufficient contact force between the contact wire and the pantograph. The quality of contact also sets a limit for higher vehicle speeds by limiting the transmission of electrical power required. The contact force from the pantograph is expected to handle external disturbances/vibrations, such as winds and vibrations from vehicle-track interactions; and also the changing catenary parameters such as deviations from initial design heights. Too high a contact force leads to undue wear on both the contact strip of the pantograph head and the contact wire, while insufficient contact forces lead to arcing and loss of contact. Modelling and active control of pantograph-catenary systems (PCS) has received increasing attention in the literature [1] - [3] . Existing passive pantographs are primarily limited to provide only the uplift force vertically. However, under extreme wind conditions, the combined lateral deviation of the contact wire and the pantograph from the track centre can lead to loss of contact or even dewirement. Adding extra degrees of freedom in the pantograph is a potential means to resolve these issues and prior research on active pantographs are mainly limited to the vertical degree-of-freedom (DOF). This paper will present a 2D modelling of a PCS system and the preliminary results of 2D control performance and effort required in contact tracking by an active sliding pantograph. The 2D model will incorporate an enhanced contact wire model presented by the authors previous work [3] . The active pantograph will feature a narrow collector head and is able to slide in sway on top of the train to track the moving contact wire. The research will help investigate the feasibility of laterally-actuated pantographs for unlocking lower mass designs and mechanically simpler catenaries.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129613493","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781368
Masoud Salehi Borujeni, Wanqing Zhao
Short-term forecasting of heat demand is crucial for controlling district heating networks and integrated electricity and heat supply systems. The forecast specifies an estimate of the energy required in the coming hours which enables the controller to proactively manage the storage units and schedule the heat generation. Consequently, improving the accuracy of heat demand forecasting can lead to reduced operational cost and increased reliability of the energy supply. This paper presents the development of a sample weighted Support Vector Machine (SVM) to improve the accuracy of heating demand forecasting. As the dynamics of heat demand time series change over time, recurrence plot analysis is first used to investigate any seasonal behavior and its relationship to ambient temperature. Then, to capture this seasonal behavior, a membership-function-based method is presented to generate the weight of each sample in learning a SVM model. This method is evaluated using a dataset with half hourly resolution from an industrial case study in the UK. Compared to conventional forecasting methods, the proposed approach shows significantly better accuracy in 24 hours ahead forecasting of heat demand.
{"title":"Forecasting Heat Demand with Complex Seasonal Pattern Using Sample Weighted SVM","authors":"Masoud Salehi Borujeni, Wanqing Zhao","doi":"10.1109/Control55989.2022.9781368","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781368","url":null,"abstract":"Short-term forecasting of heat demand is crucial for controlling district heating networks and integrated electricity and heat supply systems. The forecast specifies an estimate of the energy required in the coming hours which enables the controller to proactively manage the storage units and schedule the heat generation. Consequently, improving the accuracy of heat demand forecasting can lead to reduced operational cost and increased reliability of the energy supply. This paper presents the development of a sample weighted Support Vector Machine (SVM) to improve the accuracy of heating demand forecasting. As the dynamics of heat demand time series change over time, recurrence plot analysis is first used to investigate any seasonal behavior and its relationship to ambient temperature. Then, to capture this seasonal behavior, a membership-function-based method is presented to generate the weight of each sample in learning a SVM model. This method is evaluated using a dataset with half hourly resolution from an industrial case study in the UK. Compared to conventional forecasting methods, the proposed approach shows significantly better accuracy in 24 hours ahead forecasting of heat demand.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"54 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120855446","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781359
Gareth H. Willetts, Timothy H. Hughes
The H2 norm is a widely used metric for characterising and optimising system performance for a wide variety of applications. This article presents an alternative method for calculating the H2 norm which is more computationally efficient than existing methods, and delivers greater numerical precision, while also allowing for the H2 norm to be calculated numerically or symbolically. A stability test of the system can be performed at no added computational cost.
{"title":"Efficient and symbolic computation of the H2 norm via the polynomial Diophantine equation","authors":"Gareth H. Willetts, Timothy H. Hughes","doi":"10.1109/Control55989.2022.9781359","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781359","url":null,"abstract":"The H2 norm is a widely used metric for characterising and optimising system performance for a wide variety of applications. This article presents an alternative method for calculating the H2 norm which is more computationally efficient than existing methods, and delivers greater numerical precision, while also allowing for the H2 norm to be calculated numerically or symbolically. A stability test of the system can be performed at no added computational cost.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122256310","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-04-20DOI: 10.1109/Control55989.2022.9781363
S. Swinton, E. McGookin
The use of multiple autonomous rovers could significantly extend the scientific capabilities of future planetary exploration missions. Central to this is the ability to safely coordinate the planned paths of such robots. Previous work has shown that RRT* is a method well suited to single-agent path planning. The aim of this work is to evaluate the use of a RRT* path planner first for a single planetary rover, then applied to different coordination strategies for a small team of rovers as a multi-agent method of path planning. Two centralised coordination methodologies are applied: fixed-path coordination and prioritised planning. An evaluation is carried out, based on a comparison of the number of collisions and the time taken to plan paths, where the prioritised planning coordination algorithm is selected as the most appropriate for this application. The results drawn from this work suggest that the combined use of prioritised planning and RRT* could be appropriate for use in the guidance, navigation and control systems of planetary rovers.
{"title":"A Novel, RRT* Based Approach to the Coordination of Multiple Planetary Rovers","authors":"S. Swinton, E. McGookin","doi":"10.1109/Control55989.2022.9781363","DOIUrl":"https://doi.org/10.1109/Control55989.2022.9781363","url":null,"abstract":"The use of multiple autonomous rovers could significantly extend the scientific capabilities of future planetary exploration missions. Central to this is the ability to safely coordinate the planned paths of such robots. Previous work has shown that RRT* is a method well suited to single-agent path planning. The aim of this work is to evaluate the use of a RRT* path planner first for a single planetary rover, then applied to different coordination strategies for a small team of rovers as a multi-agent method of path planning. Two centralised coordination methodologies are applied: fixed-path coordination and prioritised planning. An evaluation is carried out, based on a comparison of the number of collisions and the time taken to plan paths, where the prioritised planning coordination algorithm is selected as the most appropriate for this application. The results drawn from this work suggest that the combined use of prioritised planning and RRT* could be appropriate for use in the guidance, navigation and control systems of planetary rovers.","PeriodicalId":101892,"journal":{"name":"2022 UKACC 13th International Conference on Control (CONTROL)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130031149","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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