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 04:19 |
| Last Modified: | 08 Sep 2015 04:19 |
| URI: | https://repository.usp.ac.fj/id/eprint/8307 |
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