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Formation control of mobile robots

Raghuwaiya, Krishna and Singh, Shonal and Vanualailai, Jito (2011) Formation control of mobile robots. [Conference Proceedings]

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In this paper, we study the formation control problem for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations.

Item Type: Conference Proceedings
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Ms Shalni Sanjana
Date Deposited: 21 Jun 2011 08:09
Last Modified: 09 Aug 2012 00:39

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