頁籤選單縮合
題 名 | Tracking Control of Multiple Mobile Robots: A Case Study of Inter-Robot Collision-Free Problem |
---|---|
作 者 | Jongusuk,Jurachart; Mita,Tsutomu; | 書刊名 | Asian Journal of Control |
卷 期 | 4:3 2002.09[民91.09] |
頁 次 | 頁265-273 |
分類號 | 448.942 |
關鍵詞 | Multiple mobile robots; Feedback; Collision; Tracking control; Terminal attractor; |
語 文 | 英文(English) |
英文摘要 | Tracking control problem of multiple mobile robots is considered. Our system is composed of a reference and two follower robots of unicycle type, which have their own priority numbers. The purpose is to control the two followers so that the reference is tracked with arbitrary desired clearance and also to avoid an inter-robot collision, which can occur randomly during the control process subjected to communication range limitation. We introduce two switching controllers and appropriately using their convergence properties leading to the collision-free movement. Simulation results prove efficiency of our control techniques. |
本系統中英文摘要資訊取自各篇刊載內容。