Formation Control of Mobile Robots with Active Obstacle Avoidance
文献类型：期刊论文
| 作者 | Liu SC(刘士才); Tan DL(谈大龙); Liu GJ(刘光军)
|
| 刊名 | 自动化学报
 |
| 出版日期 | 2007 |
| 卷号 | 33期号:5页码:529-535 |
| 关键词 | Formation control obstacle avoidance relative motion states |
| ISSN号 | 1874-1029 |
| 产权排序 | 1 |
| 中文摘要 | In this paper, the formation control and obstacle avoidance problems are dealt with a unified control algorithm, which allows the follower to avoid obstacle while maintaining desired relative bearing or relative distance from the leader. In the known leader-follower robot formation control literature, absolute motion states of the leader robot are required to control the followers, which may not be available in some environments. In this research, the leader-follower robot formation is modelled and controlled in terms of the relative motion states between the leader and follower robots. The absolute motion states of the leader robot are not required in the proposed formation controller. Furthermore, the research has been extended to a novel obstacle avoidance scheme based on sensing the relative motion between robot and obstacle. Experimental investigation has been conducted using the platform consisted of three nonholonomic mobile robots and computer vision system, and the results have demonstrated the effectiveness of the proposed methods. |
| 收录类别 | EI ; CSCD |
| 资助信息 | Supported in part by National High Technology Research and Development Program of P.R.China(2001AA422140) |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7355]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu SC,Tan DL,Liu GJ. Formation Control of Mobile Robots with Active Obstacle Avoidance[J]. 自动化学报,2007,33(5):529-535. |
| APA | Liu SC,Tan DL,&Liu GJ.(2007).Formation Control of Mobile Robots with Active Obstacle Avoidance.自动化学报,33(5),529-535. |
| MLA | Liu SC,et al."Formation Control of Mobile Robots with Active Obstacle Avoidance".自动化学报 33.5(2007):529-535. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。