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Tunnel passing maneuvers of prescribed formations

Sharma, Bibhya N. and Vanualailai, Jito and Singh, Shonal (2014) Tunnel passing maneuvers of prescribed formations. International Journal of Robust and Nonlinear Control, 24 (5). pp. 876-901. ISSN 1049-8923

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Abstract

The research essays the design of a motion planner that will simultaneously manage collision and obstacle avoidances of a team of nonholonomic car-like robots fixed in prescribed formation and ensure desirable tunnel passing maneuvers. This decentralized planner,derived from the Lyapunov-based control scheme works within a leader-follower framework to generate either split/rejoin or expansion/contraction of the formation, as feasible solutions to the tunnel passing problem. In either scenario, the prescribed formation will be re-established after the tunnel has been passed. Moreover, avoidance of the walls of a tunnel will be accomplished via the minimum distance technique. The results can be viewed as a significant contribution to the intelligent vehicle systems discipline.

Item Type: Journal Article
Subjects: T Technology > T Technology (General)
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Generic Account
Date Deposited: 17 May 2013 14:31
Last Modified: 26 May 2016 15:25
URI: http://repository.usp.ac.fj/id/eprint/5841
UNSPECIFIED

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