Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/1503
Title: | Navigation of multiple kinematically constrained robots |
Authors: | Kyriakopoulos, Kostas J. Loizou, Savvas |
Major Field of Science: | Engineering and Technology |
Field Category: | Mechanical Engineering |
Keywords: | Computer simulation;Mobile robots;Robots--Kinematics;Navigation |
Issue Date: | Feb-2008 |
Source: | IEEE Transactions on Robotics, 2008, vol. 24, iss. 1, pp. 221-231 |
Volume: | 24 |
Issue: | 1 |
Start page: | 221 |
End page: | 231 |
Journal: | IEEE Transactions on Robotics |
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: | https://hdl.handle.net/20.500.14279/1503 |
ISSN: | 19410468 |
DOI: | 10.1109/TRO.2007.912092 |
Rights: | © IEEE |
Type: | Article |
Affiliation : | National Technical University Of Athens |
Publication Type: | Peer Reviewed |
Appears in Collections: | Άρθρα/Articles |
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