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Tunnel passing maneuvers of a team of car - like robots in formation

Sharma, Bibhya N. and Vanualailai, Jito and Nakagiri, Shin-ichi and Singh, Shonal (2010) Tunnel passing maneuvers of a team of car - like robots in formation. UNSPECIFIED.

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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: Other
    Subjects: Q Science > QA Mathematics
    Divisions: Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Bibhya Sharma
    Date Deposited: 08 Sep 2015 16:19
    Last Modified: 08 Sep 2015 16:19
    URI: http://repository.usp.ac.fj/id/eprint/8307
    UNSPECIFIED

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