Formation tracking control of unicycle-type mobile robots with limited sensing ranges

被引：174
作者：
Do, K. D. [1 ]
机构：
[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2008年 / 16卷 / 03期
关键词：
bump function; formation tracking; mobile robot; potential function;
D O I：
10.1109/TCST.2007.908214
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A constructive method is presented to design cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking and guarantee no collisions between the robots. Physical dimensions and dynamics of the robots are also considered in the control design. Smooth and p times differential bump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. Despite the robot limited sensing ranges, no switchings are needed to solve the collision avoidance problem. Simulations illustrate the results.
引用
收藏
页码：527 / 538
页数：12
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