Formation Control for Mobile Robots with Saturated Driving
نویسندگان
چکیده
منابع مشابه
The Driving Pipeline: A Driving Control Scheme for Mobile Robots
Mobile robot vehicles must control the execution of numerous perception and planning processes to navigate successfully in complex environments. In the past, most mobile robot systems have utilized "stop-and-go" control schemes that avoid addressing the driving control problem, or have used f m d control schemes that ab not allow for the changing environment and field of view of the vehicle. Th...
متن کاملStable formation driving of mobile robots with hybrid strategy
We propose a switching strategy for allowing the non-holonomic mobile robots to make a formation stably. A hybrid control method is applied to controlling the robots, one of which is dynamical control and the other behavior-based control. One of them is activated depending on the angle in which the follower locates the leader; dynamical control is allowed only for a limited area. The other is s...
متن کاملFuzzy Motion Control for Wheeled Mobile Robots in Real-Time
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...
متن کاملFormation Control of Mobile Robots
A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a colli...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Transactions of the Institute of Systems, Control and Information Engineers
سال: 2017
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.30.395