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dc.contributor.authorAn, Y.
dc.contributor.authorXu, C.
dc.contributor.authorLin, Qun
dc.contributor.authorLoxton, Ryan
dc.contributor.authorTeo, Kok Lay
dc.contributor.editorYouxian SUN, Qing-Guo WANG
dc.date.accessioned2017-01-30T13:20:28Z
dc.date.available2017-01-30T13:20:28Z
dc.date.created2014-07-22T20:00:24Z
dc.date.issued2013
dc.identifier.citationAn, 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.
dc.identifier.urihttp://hdl.handle.net/20.500.11937/30597
dc.identifier.doi10.1109/ICCA.2013.6565059
dc.description.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.

dc.publisherIEEE
dc.titlePath Planning for Underactuated Dubins Micro-robots Using Switching Control
dc.typeConference Paper
dcterms.source.startPage1403
dcterms.source.endPage1408
dcterms.source.issn1948-3449
dcterms.source.titleProceedings of the 2013 10th IEEE International Conference on Control and Automation (ICCA2013)
dcterms.source.seriesProceedings of the 2013 10th IEEE International Conference on Control and Automation (ICCA2013)
dcterms.source.conference2013 10th IEEE International Conference on Control and Automation (ICCA 2013)
dcterms.source.conference-start-dateJun 12 2013
dcterms.source.conferencelocationHangzhou, China
dcterms.source.placeChina
curtin.departmentDepartment of Mathematics and Statistics
curtin.accessStatusOpen access


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