Trajectory tracking for multiple unicycles in the environment with obstacles

Author

Kowalczyk, Wojciech ; Kozlowski, Krzysztof ; Tar, Jozsef K.

Author_Institution

Dept. of Control & Syst. Eng., Poznan Univ. of Technol., Poznan, Poland

fYear

2010

fDate

24-26 June 2010

Firstpage

451

Lastpage

456

Abstract

In the paper trajectory tracking algorithm including collision avoidance behaviour is presented. Dynamic properties of the robots are taken into account. Obstacles are assumed to be convex. Artificial potential functions (APF) are used to avoid collisions between robots and with static obstacles in the environment. Stability proof for the presented algorithm is shown and simulation results are presented to illustrate effectiveness of the algorithm.

Keywords

collision avoidance; mobile robots; multi-robot systems; robot dynamics; robot kinematics; stability; artificial potential functions; collision avoidance behaviour; multiple unicycles; robot dynamic property; stability proof; static obstacles; trajectory tracking; Collision avoidance; Damping; Intelligent robots; Mobile robots; Robot kinematics; Symmetric matrices; Systems engineering and theory; Trajectory; Vectors; Wheels; artificial potential function; collision avoidance; mobile robots; trajectory tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics in Alpe-Adria-Danube Region (RAAD), 2010 IEEE 19th International Workshop on

Conference_Location

Budapest

Print_ISBN

978-1-4244-6885-0

Type

conf

DOI

10.1109/RAAD.2010.5524544

Filename

5524544