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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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    Abstract

    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 20:09
    Last Modified: 09 Aug 2012 12:39
    URI: http://repository.usp.ac.fj/id/eprint/4797
    UNSPECIFIED

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