Formation tracking control of unicycle-type mobile robots with limited sensing ranges
MetadataShow full item record
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.
Showing items related by title, author, creator and subject.
Weber, Keven (1998)Giving robots the ability to move around autonomously in various real-world environments has long been a major challenge for Artificial Intelligence. New approaches to the design and control of autonomous robots have shown ...
Coenen, Pieter; Van Werven, G.; Van Nunen, M.; Van Dieën, J.; Gerrits, K.; Janssen, T. (2012)Objective: There is increasing evidence that robot-assisted treadmill training might be useful for gait rehabilitation after stroke. The aim of this study was to evaluate the muscle activity of stroke patients during ...
Kroos, Christian; Herath, D. (2014)In this study participants judged on the relationship between two interacting robots, one of them a mobile robot, the other one a stationary, robot arm-based artistic installation with a high flexibility in orienting its ...