Navigation of Multiple Kinematically Constrained Robots

Navigation of Multiple Kinematically Constrained Robots

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 bou...

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Veröffentlicht in:IEEE transactions on robotics 2008-02, Vol.24 (1), p.221-231
Hauptverfasser: Loizou, S.G., Kyriakopoulos, K.J.
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Asymptotic properties
Backstepping
Bounded input
Computer science
control theory
systems
Computer simulation
Control theory. Systems
Controllers
Dynamics
Equivalence
Exact sciences and technology
Intelligent robots
Kinematics
Methodology
Mobile robots
Motion planning
multirobot navigation
Navigation
nonholonomic systems
nonsmooth backstepping
Orbital robotics
Robot kinematics
Robotics
Robotics and automation
Robots
Specifications
Velocity control
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Beschreibung
Zusammenfassung: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.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2007.912092