Navigation of a Compartmentalized Robot Fixed in Globally Rigid Formation

The subject of this research is navigation of a compartmentalized robot made up of several structures which are car-like with a global rigid formation. The system must move safely to a predetermined target in an already-known workspace that is filled with obstacles. A target convergence and obstacle avoidance method is put forth that is effective for any quantity of obstacles. The smallest distance between an obstacle and the point closest to it on each line segment that forms the rectangular protected zone of the car-like units can be calculated analytically using the minimum distance technique, as proposed in this paper. The Lyapunov-based control scheme (LbCS) is used to construct continuous acceleration-based controls. The computer simulations are presented to validate the proposed controllers, and the system demonstrates the rigorous upkeep of a rigid formation. The successful presentation of controllers opens further research in developing and applying controllers by considering various compartmentalized robots in swarming models, splitting and rejoining units, and applying rotational leadership concepts.