A new stabilizing solution for motion planning and control of multiple robots

Prasad, Avinesh and Sharma, Bibhya N. and Vanualailai, Jito (2016) A new stabilizing solution for motion planning and control of multiple robots. Robotica, 34 (5). pp. 1071-1089. ISSN 0263-5747

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Abstract

This paper formulates a new scalable algorithm for motion planning and control of multiple point-mass robots. These autonomous robots are designated to move safely to their goals in a priori known workspace cluttered with fixed and moving obstacles of arbitrary positions and sizes. The control laws proposed for obstacle and collision avoidance and target convergence ensure that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a team of two planar (RP) manipulators working together in a common workspace are presented. Also, the robustness of the system in the presence of noise is verified through simulations.

Item Type:	Journal Article
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TK Electrical engineering. Electronics Nuclear engineering > Robotics and Automation
Divisions:	Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences
Depositing User:	Fulori Nainoca - Waqairagata
Date Deposited:	14 Sep 2017 02:22
Last Modified:	07 Mar 2019 03:39
URI:	https://repository.usp.ac.fj/id/eprint/10105

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