Potential FunctionFormationControl ofNonholonomic MobileRobotswithCurvatureConstraints
نویسندگان
چکیده
In this paper two formation control strategies for nonholonomic mobile robots with curvature constraints are proposed. The strategies are based on a saturated potential function which makes possible the design of decentralized formation controls scheme and avoids agents collisions considering its dimensions. Provided that the communication graph is always connected, the control strategies guarantee the formation will achieve a configuration that minimizes the potential function.
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تاریخ انتشار 2011