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Formation types of a flock of 1-trailer mobile robots

Raghuwaiya, Krishna and Singh, Shonal and Sharma, Bibhya N. and Lingam, Govinda I. (2011) Formation types of a flock of 1-trailer mobile robots. [Conference Proceedings]

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    In this paper, we control the motion of a flock of 1-trailer systems. A set of artificial potential field functions is proposed for split/rejoin of the flock of 1-trailer robots via the Lyapunov-based control scheme for the avoidance of obstacles and attraction to their designated targets. A leader follower strategy is used to accomplish the desired formation and reformation of the flock. The flock maintains a prescribed formation, splits and maneuvers around obstacles and then returns to its original position in the prescribed formation. The various formations shapes that we shall consider are the line, column, arrowhead and the double platoon. The effectiveness of the proposed control laws are demonstrated through computer simulations.

    Item Type: Conference Proceedings
    Subjects: Q Science > QA Mathematics
    Divisions: Faculty of Arts, Law and Education (FALE) > School of Education
    Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
    Depositing User: Ms Shalni Sanjana
    Date Deposited: 25 Jun 2011 19:57
    Last Modified: 25 Jun 2012 19:57

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