Title :
Trajectory tracking for multiple unicycles in the environment with obstacles
Author :
Kowalczyk, Wojciech ; Kozlowski, Krzysztof ; Tar, Jozsef K.
Author_Institution :
Dept. of Control & Syst. Eng., Poznan Univ. of Technol., Poznan, Poland
Abstract :
In the paper trajectory tracking algorithm including collision avoidance behaviour is presented. Dynamic properties of the robots are taken into account. Obstacles are assumed to be convex. Artificial potential functions (APF) are used to avoid collisions between robots and with static obstacles in the environment. Stability proof for the presented algorithm is shown and simulation results are presented to illustrate effectiveness of the algorithm.
Keywords :
collision avoidance; mobile robots; multi-robot systems; robot dynamics; robot kinematics; stability; artificial potential functions; collision avoidance behaviour; multiple unicycles; robot dynamic property; stability proof; static obstacles; trajectory tracking; Collision avoidance; Damping; Intelligent robots; Mobile robots; Robot kinematics; Symmetric matrices; Systems engineering and theory; Trajectory; Vectors; Wheels; artificial potential function; collision avoidance; mobile robots; trajectory tracking;
Conference_Titel :
Robotics in Alpe-Adria-Danube Region (RAAD), 2010 IEEE 19th International Workshop on
Conference_Location :
Budapest
Print_ISBN :
978-1-4244-6885-0
DOI :
10.1109/RAAD.2010.5524544
