USP Electronic Research Repository

A new stabilizing solution for motion planning and control of multiple robots

Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito (2016) A new stabilizing solution for motion planning and control of multiple robots. Robotica, 34 (5). pp. 1071-1089. ISSN 0263-5747

[img] PDF - Published Version
Restricted to Repository staff only

Download (1308Kb)


    This paper formulates a new scalable algorithm for motion planning and control of multiple point-mass robots. These autonomous robots are designated to move safely to their goals in a priori known workspace cluttered with fixed and moving obstacles of arbitrary positions and sizes. The control laws proposed for obstacle and collision avoidance and target convergence ensure that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a team of two planar (RP) manipulators working together in a common workspace are presented. Also, the robustness of the system in the presence of noise is verified through simulations.

    Item Type: Journal Article
    Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
    T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Fulori Nainoca
    Date Deposited: 14 Sep 2017 14:22
    Last Modified: 07 Mar 2019 15:39

    Actions (login required)

    View Item

    Document Downloads

    More statistics for this item...