Formation Types of Multiple Steerable 1-Trailer Mobile Robots Via Split-Rejoin Maneuvers - NZJM

New Zealand Journal of Mathematics

Krishna Raghuwaiya¹ 

[1] The University of the South PacificSuva,Fiji$$

关键词: Lyapunov-based control scheme;    split/rejoin;    flocking;    1-trailer nonholonomic system.;   

DOI  :  

学科分类：社会科学、人文和艺术（综合）

来源: University of Auckland * Department of Mathematics

【 摘 要 】

This paper considers the design of a motion planner thatgoverns the motion of a flock of steerable 1-trailer nonholonomicrobots, wherein each robot forms a three axle system. A set ofartificial potential field functions is proposed for split/rejoinmaneuvers of the flock within a constrained environment via aLyapunov-based control scheme, essentially an artificial potentialfields method, for the avoidance of obstacles and attraction todesignated targets. The control scheme utilizes the artificialpotential fields, within a leader-follower strategy, to accomplishdesired formations and reformations of the flock. Theeffectiveness of the proposed nonlinear acceleration control lawsis demonstrated through computer simulations of differentformation shapes, namely, arrowhead, platoon, line, and columnformations.

【 授权许可】

Unknown