DocumentCode
2939168
Title
Combining Classical and Behavior-Based Control for Swarms of Cooperating Vehicles
Author
Tan, Yong Chye ; Bishop, Bradley E.
Author_Institution
Republic of Singapore Navy APT Blk 153 Mei Ling Street # 06-24 Singapore 140153 troichye@hotmail.com
fYear
2005
fDate
18-22 April 2005
Firstpage
2499
Lastpage
2504
Abstract
This paper relates a hybridization of classical control and behavior-based methods for control of cooperating autonomous vehicles performing a search mission. The controller developed inherits the best characteristics of each of the approaches with few of the drawbacks. Simulation studies show the efficacy of the control for a simple mission.
Keywords
Multi-robot control; behavior-based control; classical control; Automotive engineering; Control systems; Design methodology; Jacobian matrices; Mobile robots; Modeling; Null space; Remotely operated vehicles; Robot kinematics; Systems engineering and theory; Multi-robot control; behavior-based control; classical control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570488
Filename
1570488
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