Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip : Controllo di formazione e evitamento di ostacoli per robot multipli soggetti a slittamento delle ruote, in: International Journal of Advanced Robotic Systems

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Autor	Ze-su, Cai; Zhao, Jie; Jian, Cao
Erschienen	InTech Open Access Publisher, 2012
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Kurzbeschreibung	An adaptive formation control law for nonholonomic dynamic robots based on an artificial potential function method in the presence of lateral slip and parametric uncertainties is presented to organize multiple robots into formation. It is formulated to achieve the smooth control of the translational and rotational motion of a group of mobile robots while keeping a prescribed formation and avoiding inter‐robot and obstacle collisions. In order to improve the formation control method effectively and reduce the distortion shape, the virtual leader‐following method is proposed for every robot and an improved optimal assignment algorithm is used to solve multi‐targets optimal assignment for the formation problem. Simulation results are provided to validate the theoretical results.

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International Journal of Advanced Robotic Systems
Autor: 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, [...]
Erschienen: 2004

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International Journal of Advanced Robotic Systems

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DMG-Lib		https://www.dmg-lib.org/dmglib/handler?docum=33491009
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_33491009.html
PDF		Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

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Univ. Cassino

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Publikationsdatum		2012
Lizenzinformation		This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip : Controllo di formazione e evitamento di ostacoli per robot multipli soggetti a slittamento delle ruote, in: International Journal of Advanced Robotic Systems

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