Please use this identifier to cite or link to this item:
|Title:||Navigation of multiple kinematically constrained robots||Authors:||Kyriakopoulos, Kostas J.
|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|
Show full item record
checked on Apr 21, 2019
WEB OF SCIENCETM
checked on Sep 14, 2019
checked on Sep 22, 2019
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.