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Navigation of multiple kinematically constrained robots

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Navigation of multiple kinematically constrained robots (EN)
Kyriakopoulos, KJ (EN)
Loizou, SG (EN)
journalArticle (EN)
2014-03-01T01:28:50Z
2008 (EN)
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. © 2008 IEEE. (EN)
Robotics (EN)
Navigation (EN)
Computer simulation (EN)
Nonsmooth backstepping (EN)
Multirobot navigation (EN)
Mobile robots (EN)
Robotics (EN)
Nonholonomic systems (EN)
Asymptotic stability (EN)
Kinematics (EN)
Dynamic models (EN)
Backstepping controller (EN)
Bounded input (EN)
Motion control (EN)
IEEE Transactions on Robotics (EN)
English
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC (EN)
National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
Κεντρική Βιβλιοθήκη Ε.Μ.Π.
Ιδρυματικό Αποθετήριο
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