Sharma, Bibhya N. and Vanualailai, Jito and Singh, Shonal (2014) Tunnel passing maneuvers of prescribed formations. International Journal of Robust and Nonlinear Control, 24 (5). pp. 876-901. ISSN 1049-8923
Full text not available from this repository.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: | Journal Article |
|---|---|
| Subjects: | T Technology > T Technology (General) |
| Divisions: | Faculty of Science, Technology and Environment (FSTE) > School of Computing, Information and Mathematical Sciences |
| Depositing User: | Generic Account |
| Date Deposited: | 17 May 2013 02:31 |
| Last Modified: | 26 May 2016 03:25 |
| URI: | https://repository.usp.ac.fj/id/eprint/5841 |
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