Leader Robot Controller Considering Follower with Input Constraint

نویسندگان
چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

A Receding-horizon Formation Tracking Controller with Leader-follower Strategies

This paper presents a receding-horizon leader-follower (RH-LF) controller for addressing the formation control problem of multiple nonholonomic mobile robots. The issues to be investigated include separation, bearing, and orientation deviation control between the leader and the followers, where the orientation deviation control is especially important to control precision. After the leader-foll...

متن کامل

A Shared-Constraint Approach to Multi-leader Multi-follower Games

Multi-leader multi-follower games are a class of hierarchical games in which a collection of leaders compete in a Nash game constrained by the equilibrium conditions of another Nash game amongst the followers. The resulting equilibrium problem with equilibrium constraints is complicated by nonconvex agent problems and therefore providing tractable conditions for existence of global or even loca...

متن کامل

General Path Planning Methodology for Leader-Follower Robot Formations

This paper describes a robust algorithm for mobile robot formations based on the Voronoi Fast Marching path planning method. This is based on the propagation of a wave throughout the model of the environment, the wave expanding faster as the wave’s distance from obstacles increases. This method provides smooth and safe trajectories and its computation...

متن کامل

Sensors and Algorithms for Small Robot Leader/Follower Behavior

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For eÆcient deployment, it is desirable for teams of robots to be able to automatically execute leader/follower behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (1) to develop sensor packages for such small r...

متن کامل

Rigid Formations with Leader-Follower Architecture

This paper is concerned with information structures used in rigid formations of autonomous agents that have leaderfollower architecture. The focus of this paper is on sensor/network topologies to secure control of rigidity. We extend our previous approach for formations with symmetric neighbor relations to include formations with leader-follower architecture. Necessary and sufficient conditions...

متن کامل

ذخیره 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: The Transactions of The Korean Institute of Electrical Engineers

سال: 2012

ISSN: 1975-8359

DOI: 10.5370/kiee.2012.61.7.1032