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Formation Types of Multiple Steerable 1-Trailer Mobile Robots Via Split-Rejoin Maneuvers

Raghuwaiya, Krishna and Singh, Shonal (2013) Formation Types of Multiple Steerable 1-Trailer Mobile Robots Via Split-Rejoin Maneuvers. New Zealand Journal of Mathematics, 43 . pp. 7-21. ISSN 1171-6096

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Abstract

This paper considers the design of a motion planner that governs the motion of a flock of steerable 1-trailer nonholonomic robots, wherein each robot forms a three axle system. A set of artificial potential field functions is proposed for split/rejoin maneuvers of the flock within a constrained environment via a Lyapunov-based control scheme, essentially an artificial potential fields method, for the avoidance of obstacles and attraction to designated targets. The control scheme utilizes the artificial potential fields, within a leader-follower strategy, to accomplish desired formations and reformations of the flock. The effectiveness of the proposed nonlinear acceleration control laws is demonstrated through computer simulations of different formation shapes, namely, arrowhead, platoon, line, and column formations.

Item Type: Journal Article
Subjects: Q Science > QA Mathematics
Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User: Unnamed user with email shonal.singh@usp.ac.fj
Date Deposited: 22 Aug 2013 12:52
Last Modified: 06 Jul 2016 12:17
URI: http://repository.usp.ac.fj/id/eprint/6160
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