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

Do, Khac Duc

doi:10.1109/TCST.2007.908214

Access Status

Fulltext not available

Authors

Do, Khac Duc

Date

2008

Type

Journal Article

Metadata

Show full item record

Citation

Do, K.D. 2008. Formation tracking control of unicycle-type mobile robots with limited sensing ranges. IEEE Transactions on Control Systems Technology. 16 (3): pp. 527-538.

Source Title

IEEE Transactions on Control Systems Technology

DOI

10.1109/TCST.2007.908214

ISSN

1063-6536

School

Department of Mechanical Engineering

URI

http://hdl.handle.net/20.500.11937/30193

Collection

Curtin Research Publications

Abstract

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. © 2008 IEEE.