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    Path Planning for Underactuated Dubins Micro-robots Using Switching Control

    199827_199827.pdf (1.538Mb)
    Access Status
    Open access
    Authors
    An, Y.
    Xu, C.
    Lin, Qun
    Loxton, Ryan
    Teo, Kok Lay
    Date
    2013
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    An, Y. and Xu, C. and Lin, Q. and Loxton, R. and Teo, K.L. 2013. Path Planning for Underactuated Dubins Micro-robots Using Switching Control, in Sun, Y. and Wang, Q. (ed), Proceeding of the 10th IEEE International Conference on Control and Automation (ICCA), Jun 12-14 2013, pp. 1403-1408. Hangzhou, China: IEEE.
    Source Title
    Proceedings of the 2013 10th IEEE International Conference on Control and Automation (ICCA2013)
    Source Conference
    2013 10th IEEE International Conference on Control and Automation (ICCA 2013)
    DOI
    10.1109/ICCA.2013.6565059
    ISSN
    1948-3449
    School
    Department of Mathematics and Statistics
    URI
    http://hdl.handle.net/20.500.11937/30597
    Collection
    • Curtin Research Publications
    Abstract

    In this paper, we develop an optimal path planning strategy for under-actuated Dubins micro-robots. Such robots are non-holonomic robots constrained to move along circular paths of fixed curvature clockwise or counter-clockwise. Our objective is to investigate the coverage and optimal path problems, as well as multi-robot cooperation, for a switching control scheme. Our methods are based on elementary geometry and optimal control techniques. The results in this paper show that the trajectories of micro-robots can cover the entire two-dimensional plane, and that the proposed switching control scheme allows multiple robots to cooperate. In addition, we deduce the minimum-time path under the switching control scheme by converting the robot model into the traditional Dubins vehicle model.

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