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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