Formation tracking control of unicycle-type mobile robots with limited sensing ranges
| dc.contributor.author | Do, Khac Duc | |
| dc.date.accessioned | 2017-01-30T13:18:03Z | |
| dc.date.available | 2017-01-30T13:18:03Z | |
| dc.date.created | 2016-09-12T08:36:40Z | |
| dc.date.issued | 2008 | |
| dc.identifier.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. | |
| dc.identifier.uri | http://hdl.handle.net/20.500.11937/30193 | |
| dc.identifier.doi | 10.1109/TCST.2007.908214 | |
| dc.description.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. | |
| dc.publisher | Institute of Electrical and Electronics Engineers | |
| dc.title | Formation tracking control of unicycle-type mobile robots with limited sensing ranges | |
| dc.type | Journal Article | |
| dcterms.source.volume | 16 | |
| dcterms.source.number | 3 | |
| dcterms.source.startPage | 527 | |
| dcterms.source.endPage | 538 | |
| dcterms.source.issn | 1063-6536 | |
| dcterms.source.title | IEEE Transactions on Control Systems Technology | |
| curtin.department | Department of Mechanical Engineering | |
| curtin.accessStatus | Fulltext not available |
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