Please use this identifier to cite or link to this item: http://ktisis.cut.ac.cy/handle/10488/7821
Title: Navigation of multiple kinematically constrained robots
Authors: Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Computer simulation;Mobile robots;Robots--Kinematics;Navigation
Issue Date: 2008
Publisher: IEEE
Source: IEEE Transactions on Robotics, 2008, Volume 24, Issue 1, Pages 221-231
Abstract: In this paper, we propose a methodology for implementing multirobot navigation-function-based controllers to mixed teams of holonomic and nonholonomic agents. A new nonsmooth backstepping controller is introduced for translating kinematic controllers to equivalent dynamic ones, while maintaining bounded velocity specifications. The derived backstepping controller is applied to a dynamic model of the mobile robots, yielding a globally asymptotically stable dynamic controller. The effectiveness of the methodology is verified through nontrivial computer simulations.
URI: http://ktisis.cut.ac.cy/handle/10488/7821
ISSN: 15523098
DOI: 10.1109/TRO.2007.912092
Rights: © 2008 IEEE
Type: Article
Appears in Collections:Άρθρα/Articles

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