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General information |
| Author |
Dai, Yanyan; Choi, Kyung Sik; Lee, Suk Gyu |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper presents four novel collision
avoidance processes for nonholonomic mobile robots to
generate effective collision‐free trajectories when
forming and maintaining a formation. A collision
priority strategy integrates the static and dynamic
collision priorities to avoid a collision efficiently and
effectively. In addition, it minimizes the turning angle
of the follower robot and decreases system computation
time. When avoiding collisions between robots, a novel
collision avoidance algorithm is used to find a safe
waypoint for the robot, based on the velocity of each
robot. An adaptive tracking control algorithm, using the
Lyapunov analysis, guarantees that the robotʹs
trajectory and velocity tracking errors converge to zero
considering parametric uncertainties of both the
kinematic and dynamic models. The simulation and
experiment results validate the effectiveness of the
proposed method. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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