Control and navigation of formations of car-like robots on a receding horizon

Autor:	Martin Saska, Klaus Schilling, Dusan M. Stipanovic, Juan S. Mejia
Rok vydání:	2009
Předmět:	Computer Science::Robotics Nonholonomic system Vehicle dynamics Robot kinematics Engineering business.industry Control theory Control system Trajectory Robot Mobile robot business Optimal control
Zdroj:	CCA/ISIC
DOI:	10.1109/cca.2009.5281107
Popis:	The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::31052e302fc931883cf6a8c0efd2fc67 https://doi.org/10.1109/cca.2009.5281107 Zobrazit plný text záznamu