Formation Control of Mobile Robots with Obstacle Avoidance
نویسندگان
چکیده
منابع مشابه
Planning and Obstacle Avoidance for Mobile Robots
A planning methodology for nonholonomic mobile manipulators that employs smooth and continuous functions such as polynomials is developed. The method decouples kinematically the manipulator from the platform by constructing admissible paths that drive it to a final configuration and is based on mapping the nonholonomic constraint to a space where it can be trivially satisfied. In addition, the ...
متن کاملSafe Formation Control with Obstacle Avoidance
In this paper, we consider the general problem of guaranteeing safe interaction of humans and a group of mobile agents in an environment of interest. The way that we guarantee such a safe interaction is via proposing algorithms that prevent the agents from colliding with environmental obstacles with unknown sizes and locations, e.g. human operators. To do so, we first consider the problem of fo...
متن کاملAcquisition of Smooth, Continuous Obstacle Avoidance in Mobile Robots
To enable robots to cope with unforeseen situations, as well as the noise and variation inherent in the real world, we believe it is essential to incorporate plasticity into robot controllers, and use as little predeened knowledge as possible. We present rst results of experiments in autonomous competence acquisition with \FortyTwo", a mobile robot equipped with tactile, sonar, infrared and vis...
متن کاملA reinforcement learning approach to obstacle avoidance of mobile robots
One of the basic issues in navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward info...
متن کاملAdaptive Tracking and Obstacle Avoidance Control for Mobile Robots With Unknown Sliding
An adaptive control approach is proposed for trajectory tracking and obstacle avoidance for mobile robots with consideration given to unknown sliding. A kinematic model of mobile robots is established in this paper, in which both longitudinal and lateral sliding are considered and processed as three time‐varying parameters. A sliding model observer is intr...
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: 2015
ISSN: 1342-5668,2185-811X
DOI: 10.5687/iscie.28.50