کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413202 679904 2007 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Nonlinear formation control of unicycle-type mobile robots
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Nonlinear formation control of unicycle-type mobile robots
چکیده انگلیسی

We investigate formation control of a group of unicycle-type mobile robots at the dynamics level with a little amount of inter-robot communication. A combination of the virtual structure and path-tracking approaches is used to derive the formation architecture. Each individual robot has only position and orientation available for feedback. For each robot, a coordinate transformation is first derived to cancel the velocity quadratic terms. An observer is then designed to globally exponentially/asymptotically estimate the unmeasured velocities. An output feedback controller is designed for each robot. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robots’ motion. Simulations illustrate the soundness of the proposed controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 55, Issue 3, 31 March 2007, Pages 191–204
نویسندگان
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