Title :
Coordinate pseudo-stabilization of dynamic systems for multiple mobile robots
Author :
Chaoli Wang ; Tan, Dalong ; Yuechao Wang
Author_Institution :
Robotics Lab., Acad. Sinica, Shenyang, China
Abstract :
Deals with the stabilization of dynamic systems for two omnidirectional mobile robots by using the inner product of two vectors, one is from a robot´s position to another, the other is from a robot´s target point to another. The multi-step control law is given, which can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision-free safe distance. The application of it to two omni-directional mobile robots is described. Simulation result shows that the proposed controller is effective
Keywords :
asymptotic stability; collision avoidance; mobile robots; multi-robot systems; collision-free safe distance; coordinate pseudo-stabilization; dynamic systems; multi-step control law; multiple mobile robots; omnidirectional mobile robots; Chaos; Collision avoidance; Control systems; Laboratories; Mobile robots; Robot kinematics;
Conference_Titel :
Intelligent Control and Automation, 2000. Proceedings of the 3rd World Congress on
Conference_Location :
Hefei
Print_ISBN :
0-7803-5995-X
DOI :
10.1109/WCICA.2000.863433
