Title :
Tracking of closed-curve trajectories for multi-robot systems
Author :
Sabattini, Lorenzo ; Secchi, Cristian ; Fantuzzi, Cesare ; de Macedo Possamai, Daniel
Author_Institution :
Dept. of Electron., Comput. Sci. & Syst. (DEIS), Univ. of Bologna, Bologna, Italy
Abstract :
In this paper we address the trajectory tracking problem for groups of mobile robots. We consider trajectories described by completely arbitrary shaped closed curves. The proposed control strategy is a completely decentralized algorithm, and does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions.
Keywords :
mobile robots; multi-robot systems; path planning; position control; robot dynamics; artificial potential function; decentralized algorithm; global synchronization; mobile robot; trajectory tracking;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5650375
