Cooperative Behavioural Control for Omni-Wheeled Robots: Experiments and simulations for formation control with obstacle- and collision avoidance

This thesis considers the formation and behavioural control problem of a multirobotsystem. A mathematical model of the mobile vehicles are presented, followedby an introduction to behavioural control. The Null-Space based Behavioural(NSB) control [Antonelli, Arrichiello, and Chiaverini, 2005] is pre...

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Bibliographische Detailangaben

1. Verfasser:	Klausen, Kristian
Format:	Dissertation
Sprache:	eng
Online-Zugang:	Volltext bestellen
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