This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and the effects of the collisions on the mobile robots are analyzed to develop a hybrid model of each mobile robot under allowable collisions. Based on the effects of the collisions, we show the necessity of redesigning the motion control strategy for mobile robots. Furthermore, impulsive control techniques are applied to redesign the motion control strategy to guarantee the task accomplishment for each mobile robot. Finally, an example is used to illustrate the redesigned motion control strategy.

翻译：本快报研究允许多次碰撞下两台移动机器人的运动控制问题。此处"允许多次碰撞"指碰撞不会对移动机器人造成损伤。本文分析了碰撞的发生条件及其对移动机器人的作用机理，建立了每次碰撞下各移动机器人的混合模型。基于碰撞效应，论证了重新设计移动机器人运动控制策略的必要性。进一步地，采用脉冲控制技术对运动控制策略进行重新设计，以确保各移动机器人任务完成。最后通过实例验证了重新设计的运动控制策略的有效性。