DocumentCode
2626046
Title
Formation tracking control of unicycle-type mobile robots
Author
Do, K.D.
Author_Institution
Sch. of Mech. Eng., Western Australia Univ., Crawley, WA
fYear
2007
fDate
10-14 April 2007
Firstpage
2391
Lastpage
2396
Abstract
A constructive method is presented to design cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. Robot physical dimensions and dynamics are considered in the control design, p times differential bump functions are introduced and incorporated into novel potential functions for control design. Despite the robot limited sensing ranges, no switchings are needed to solve the collision avoidance problem.
Keywords
collision avoidance; control system synthesis; mobile robots; robot dynamics; control design; cooperative controllers; differential bump function; formation tracking control; robot collision avoidance; robot dynamics; unicycle-type mobile robots; Centralized control; Collision avoidance; Control design; Control systems; Force control; Mobile robots; Robot kinematics; Robot sensing systems; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.363677
Filename
4209441
Link To Document