DocumentCode
1892846
Title
Optimal motion planning for the rendezvous of nonholonomic vehicles under disturbances
Author
Silva, Jorge Estrela da ; De Sousa, Joao Borges
Author_Institution
Dept. de Engenharia Electrotecnica, Inst. Superior de Engenharia do Porto
fYear
2006
fDate
28-30 June 2006
Firstpage
1
Lastpage
6
Abstract
This paper presents a strategy for the coordination of teams of nonholonomic vehicles on phased operations. On each phase, the vehicles should arrive simultaneously to their goal locations. The vehicles establish communication only during brief instants, coinciding with the arrival at the desired locations. The arrival time is minimized by the control design. The control design is made taking in account the existence of constant disturbances
Keywords
control system synthesis; mobile robots; multi-robot systems; optimal control; path planning; underwater vehicles; control design; nonholonomic vehicle; optimal motion planning; vehicle phased operation; Automatic generation control; Control design; Control systems; Kinematics; Mathematical model; Mobile robots; Remotely operated vehicles; Space vehicles; Strategic planning; Underwater vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Automation, 2006. MED '06. 14th Mediterranean Conference on
Conference_Location
Ancona
Print_ISBN
0-9786720-1-1
Electronic_ISBN
0-9786720-0-3
Type
conf
DOI
10.1109/MED.2006.328841
Filename
4124947
Link To Document