Formation tracking control of mobile robots with limited sensing and without velocity measurements
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Authors
Do, Khac Duc
Date
2008Type
Conference Paper
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Do, K.D. 2008. Formation tracking control of mobile robots with limited sensing and without velocity measurements, pp. 204-209.
Source Title
2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008
ISBN
School
Department of Mechanical Engineering
Collection
Abstract
This paper presents a constructive method to design output-feedback 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. For each robot an interlaced observer is designed to estimate the robot unmeasured velocities. p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system. © 2008 IEEE.
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