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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Autore	Ze-su, Cai; Zhao, Jie; Jian, Cao
Pubblicato	InTech Open Access Publisher, 2012
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Abstract	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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		Articoli a Rivista
		2000 ed oltre

Superordinate work

International Journal of Advanced Robotic Systems
Autore: 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, [...]
Pubblicato: 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
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PDF		Formation Control and Obstacle Avoidance for Multiple Robots Subject to Wheel-Slip

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Univ. Cassino

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Time of publication		2012
License information		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

Informazioni generali