The Control Strategy of Swarm Tracked Robots for Intelligent Transportation Based on Parallel Formation

Author

Jianhua Wu ; Zhao Liu

Author_Institution

Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China

fYear

2012

fDate

6-8 Nov. 2012

Firstpage

348

Lastpage

351

Abstract

The research of this paper is about the control strategy of tracked robots for intelligent transportation based on parallel formation. Firstly, the sliding turning model of tracked mobile robot is introduced and the kinematics analysis of this model based on the pose information is also researched. Then, the problem of tracked robots formation could be reduced to the tracking approach by the theory of virtual-structure, and the control strategy of tracked robots is achieved by the relative algorithm. At last, the feasibility and stability of tracked robots´ formation for intelligent transportation is simulated by the software of Matlab.

Keywords

mobile robots; robot kinematics; stability; tracked vehicles; transportation; Matlab; intelligent transportation; kinematic analysis; parallel formation; pose information; sliding turning model; swarm tracked robot control strategy; tracked mobile robot feasibility; tracked mobile robot stability; virtual-structure theory; Acceleration; Mathematical model; Mobile robots; Robot kinematics; Tracking; Transportation; intelligent transportation; swarm tracked robots; tracking approach; virtual-structure;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems (GCIS), 2012 Third Global Congress on

Conference_Location

Wuhan

Print_ISBN

978-1-4673-3072-5

Type

conf

DOI

10.1109/GCIS.2012.66

Filename

6449551