Title :
A Feedback Stabilization and Collision Avoidance Scheme for Multiple Independent Nonholonomic Non-Point Agents
Author :
Dimarogonas, Dimos V. ; Kyriakopoulos, K.J.
Author_Institution :
Dept. of Mech. Eng., Nat. Tech. Univ. of Athens
Abstract :
A navigation functions´ based methodology, established previously for decentralized navigation of multiple holonomic agents, is extended to address the problem of decentralized navigation of multiple nonholonomic agents. In contrast to our previous work, each agent does not require any knowledge about the velocities and the desired destinations of the other members of the team. Furthermore, the control inputs are the acceleration and rotational velocity of each vehicle, coping in this way with realistic dynamics of classes of mechanical systems. Asymptotic stability is guaranteed by LaSalle´s invariance principle for nonsmooth systems. The collision avoidance and global convergence properties are verified through simulations
Keywords :
asymptotic stability; collision avoidance; decentralised control; feedback; mobile robots; multi-robot systems; robot dynamics; LaSalle invariance principle; acceleration; asymptotic stability; collision avoidance scheme; decentralized navigation; feedback stabilization; global convergence; mechanical system dynamics; multiple independent nonholonomic nonpoint agents; nonsmooth systems; rotational velocity; Acceleration; Asymptotic stability; Collision avoidance; Control systems; Convergence; Feedback; Mechanical systems; Navigation; Vehicle dynamics; Velocity control;
Conference_Titel :
Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation
Conference_Location :
Limassol
Print_ISBN :
0-7803-8936-0
DOI :
10.1109/.2005.1467120
