DocumentCode
3315064
Title
Tracking of closed-curve trajectories for multi-robot systems
Author
Sabattini, Lorenzo ; Secchi, Cristian ; Fantuzzi, Cesare ; de Macedo Possamai, Daniel
Author_Institution
Dept. of Electron., Comput. Sci. & Syst. (DEIS), Univ. of Bologna, Bologna, Italy
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
6089
Lastpage
6094
Abstract
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
Keywords
mobile robots; multi-robot systems; path planning; position control; robot dynamics; artificial potential function; decentralized algorithm; global synchronization; mobile robot; trajectory tracking;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5650375
Filename
5650375
Link To Document