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
Appears in Collections:Άρθρα/Articles

Show full item record

SCOPUSTM   
Citations 5

51
checked on Apr 10, 2017

WEB OF SCIENCETM
Citations 5

42
checked on May 9, 2017

Page view(s)

9
Last Week
1
Last month
checked on May 28, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.