Control and Navigation of Formations of Car-Like Robots on a Receding Horizon

被引：14
|
作者：
Saska, Martin [1 ]
Mejia, Juan S. [2 ]
Stipanovic, Dugan M. [2 ]
Schilling, Klaus [1 ]
机构：
[1] Univ Wurzburg, Dept Comp Sci, D-97070 Wurzburg, Germany
[2] Univ Illinois, Ind & Enterprise Sys Engn Dept, Urbana, IL 61801 USA
来源：
2009 IEEE CONTROL APPLICATIONS CCA & INTELLIGENT CONTROL (ISIC), VOLS 1-3 | 2009年
关键词：
D O I：
10.1109/CCA.2009.5281107
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.
引用
收藏
页码：1761 / +
页数：2
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