Tracking control of multiple mobile robots: A case study of inter-robot collision-free problem

被引：5
|
作者：
Jongusuk, Jurachart [1 ]
Mita, Tsutomu [1 ]
机构：
[1] Dept. of Control and Syst. Eng., Tokyo Inst. of Technol., Tokyo, Japan
来源：
Asian Journal of Control | 2002年 / 4卷 / 03期
关键词：
Algorithms - Collision avoidance - Computer simulation - Control equipment - Feedback control - Mathematical models - Theorem proving;
D O I：
10.1111/j.1934-6093.2002.tb00354.x
中图分类号：
学科分类号：
摘要：
Tracking control problem of multiple mobile robots is considered. Our system is composed of a reference and two follower robots of unicycle type, which have their own priority numbers. The purpose is to control the two followers so that the reference is tracked with arbitrary desired clearance and also to avoid an inter-robot collision, which can occur randomly during the control process subjected to communication range limitation. We introduce two switching controllers and appropriately using their convergence properties leading to the collision-free movement. Simulation results prove efficiency of our control techniques.
引用
收藏
页码：265 / 273
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