Trajectory Tracking Control of Unicycle Robots with Collision Avoidance and Connectivity Maintenance View Full Text


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Article Info

DATE

2019-02-12

AUTHORS

Mansour Karkoub, Gokhan Atınç, Dusan Stipanovic, Petros Voulgaris, Andy Hwang

ABSTRACT

In this paper, we focus on a multiple objective control problem for unicycle robots. By utilizing the gradients of collision avoidance and connectivity potential fields in designing reference orientations, we derive control laws for unicycle robots and show that they can track reference trajectories with bounded errors, which can be made arbitrarily small, while avoiding inter-agent collisions and ensuring that the communication among the agents is maintained. Additionally, we present experimental results where we illustrate the effectiveness of our proposed control laws by implementing them on a testbed with mobile robots. More... »

PAGES

1-13

References to SciGraph publications

  • 1977-12. Avoidance control in JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS
  • 1980-12. Guaranteed avoidance strategies in JOURNAL OF OPTIMIZATION THEORY AND APPLICATIONS
  • 1988. Differential Equations with Discontinuous Righthand Sides in NONE
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/s10846-019-00987-2

    DOI

    http://dx.doi.org/10.1007/s10846-019-00987-2

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1112092079


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