DocumentCode :
682477
Title :
Coordinated trajectory tracking for a group of unicycle mobile robots
Author :
Adinandra, Sisdarmanto
Author_Institution :
Dept. of Electr. Eng., Univ. Islam Indonesia, Yogyakarta, Indonesia
fYear :
2013
fDate :
25-27 Nov. 2013
Firstpage :
88
Lastpage :
93
Abstract :
We propose a nonlinear control for coordinated trajectory tracking of unicycle mobile robots with collision avoidance ability. The proposed algorithm guarantees global asymptotic tracking of the reference trajectories of all individual robots. The coordinated movement is achieved by means of mutual coupling between robots. The stronger the coupling are, the better robustness in keeping the coordination in the presence of perturbations. Collision avoidance algorithm using an artificial potential field is introduced to increase the overall performance. The proposed coordinated trajectory control algorithm has been successfully validated in real-time experiments.
Keywords :
collision avoidance; mobile robots; nonlinear control systems; trajectory control; collision avoidance ability; collision avoidance algorithm; coordinated movement; coordinated trajectory control algorithm; coordinated trajectory tracking; global asymptotic tracking; nonlinear control; unicycle mobile robots; Real-time systems; Robot kinematics; Coordinated Control; collision avoidance; nonlinear control for unicycles; stability of nonlinear systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics, Biomimetics, and Intelligent Computational Systems (ROBIONETICS), 2013 IEEE International Conference on
Conference_Location :
Jogjakarta
Print_ISBN :
978-1-4799-1206-3
Type :
conf
DOI :
10.1109/ROBIONETICS.2013.6743584
Filename :
6743584
Link To Document :
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