Coordinated Path Following for Mobile Robots Using a Virtual Structure Strategy with Model Predictive Control
نویسندگان
چکیده
منابع مشابه
Coordinated Path Following for Mobile Robots Using a Virtual Structure Strategy with Model Predictive Control
In this paper, we propose a novel coordinated path following controller based on model predictive control (MPC) for mobile robots. The strategy is based on a virtual structure approach where the entire formation is considered as a rigid body and the control laws for a virtual leader vehicle and for actual follower robots are optimized by considering the dynamics of the virtual structure and the...
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ژورنال
عنوان ژورنال: Automatika
سال: 2014
ISSN: 0005-1144,1848-3380
DOI: 10.7305/automatika.2014.12.460