Formation tracking control of unicycle-type mobile robots with limited sensing ranges
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 considere...
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| Format: | Journal Article |
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Institute of Electrical and Electronics Engineers
2008
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| Online Access: | http://hdl.handle.net/20.500.11937/30193 |
| _version_ | 1848753018544062464 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T08:17:51Z |
| format | Journal Article |
| id | curtin-20.500.11937-30193 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:17:51Z |
| publishDate | 2008 |
| publisher | Institute of Electrical and Electronics Engineers |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-301932017-09-13T15:31:39Z Formation tracking control of unicycle-type mobile robots with limited sensing ranges Do, Khac Duc 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. 2008 Journal Article http://hdl.handle.net/20.500.11937/30193 10.1109/TCST.2007.908214 Institute of Electrical and Electronics Engineers restricted |
| spellingShingle | Do, Khac Duc Formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title | Formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_full | Formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_fullStr | Formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_full_unstemmed | Formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_short | Formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| title_sort | formation tracking control of unicycle-type mobile robots with limited sensing ranges |
| url | http://hdl.handle.net/20.500.11937/30193 |