Name
Abstract | ||
|---|---|---|
This paper explains a hybrid control strategy developed to coordinate multiple autonomous mobile robots with nonholonomic constraints. The robots are required to navigate in an obstacles populated environment with a predetermined geometric formation. The nonlinear robot dynamics are fully state feedback linearized in order to yield linear controllable systems while the dynamics of the environment are handled by an event based hybrid automata. The chattering effect of the switched system is tackled by incorporating sliding dynamics in the automata. The proposed system is implemented through simulation and the results are shown to verify its operation. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/CCECE.2009.5090211 | St. John's, NL |
Keywords | Field | DocType |
automata theory,mobile robots,chattering effect,event-based hybrid automata,hybrid control strategy,linear controllable systems,multiple mobile robots,nonholonomic constraints,Hybrid automata,MIMO,Mobile robots,Motion control,Multi-robot formation,Nonlinear control | Motion control,Automata theory,Control theory,Nonlinear control,Computer science,Automaton,Robot kinematics,Control engineering,Nonholonomic system,Robot,Mobile robot | Conference |
ISSN | ISBN | Citations |
0840-7789 E-ISBN : 978-1-4244-3508-1 | 978-1-4244-3508-1 | 1 |
PageRank | References | Authors |
0.39 | 6 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gayan W. Gamage | 1 | 1 | 0.39 |
| Mann, G.K.I. | 2 | 139 | 13.77 |
| Gosine, R.G. | 3 | 85 | 10.46 |