Raghuwaiya, Krishna and Singh, Shonal and Vanualailai, Jito (2011) Formation control of mobile robots. [Conference Proceedings]
PDF
- Published Version
Restricted to Repository staff only Download (528kB) |
Official URL: http://www.waset.org/proceedings.php
Abstract
In this paper, we study the formation control problem
for car-like mobile robots. A team of nonholonomic mobile robots navigate in a terrain with obstacles, while maintaining a desired formation, using a leader-following strategy. A set of artificial potential field functions is proposed using the direct Lyapunov method for the avoidance of obstacles and attraction to their designated targets. The effectiveness of the proposed control laws to verify the feasibility of the model is demonstrated through computer simulations.
Item Type: | Conference Proceedings |
---|---|
Subjects: | Q Science > QA Mathematics |
Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
Depositing User: | Ms Shalni Sanjana |
Date Deposited: | 21 Jun 2011 08:09 |
Last Modified: | 09 Aug 2012 00:39 |
URI: | https://repository.usp.ac.fj/id/eprint/4797 |
Actions (login required)
View Item |