Dynamic Obstacles Avoiding Method of Formation Tracking Control for Amphibious Spherical Robots

The collision-free formation trajectory tracking method is established for multiple amphibious spherical robots (multi-ASRs) in this paper. This approach combine the Velocity Obstacle (VO) and Model Predictive Controller (MPC) to achieve obstacle avoidance during the formation tracking. The kinematics and dynamics constrains ignored by VO are considered by MPC. The collsion-free velocity constraints for MPC is generated by VO. First, the current velocity of obstacle is used to generate the safe zones for the new velocity of ASR. Then, the safe zones are used to generate constraints for output variables. Finally, the optimization problem which contain formation keeping conditions is solved. Simulations are carried out to validate the feasibility of VO-MPC method.