Control of car-like (wheeled) multi robots for following and hunting a moving target

Kouhi, Hamed; Salarieh, Hassan

doi:10.1016/j.scient.2011.07.006

Cited by 4 publications

(4 citation statements)

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“…(1) de nes velocity constraints on the rear and front wheels. This means that angular velocity and central linear velocity of the robot should be in agreement with these equations [18].…”

Section: Mathematical Model Of Car-like Mobile Robotmentioning

confidence: 79%

“…This angle di erences do not cause a noticeable discrepancy between the equations of two wheeled and four wheeled robot models. Therefore, four wheeled mobile robot is reduced to bike model [18]. To achieve dynamic model of car-like mobile robot, energy approach is used to derive equations of motion (Lagrangian method).…”

Section: Mathematical Model Of Car-like Mobile Robotmentioning

confidence: 99%

“…Lagrange equations for nonholonomic systems with a dependent set of generalized coordinates q i 's are [18]:…”

Section: Mathematical Model Of Car-like Mobile Robotmentioning

confidence: 99%

“…The autonomous mobile robots considered in this paper are front steer, front drive car-like mobile robots, namely nonholonomic system. In the present study, it is assumed that weight and moment of inertia of wheels of any robot agent are negligible [18], and it is considered that every robot moves on a at surface in a no-slip wheels condition. Each robot uses local sensory information for position control with respect to a speci ed leader in the hierarchical con guration, except for the main leader.…”

Section: Introductionmentioning

confidence: 99%

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Flexible Formation of Multiple Car-like Robots with respect to a Dynamic Environment

Salarieh

2016

Scientia Iranica

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This paper attempts to give a perspective on decentralized formation control of multiple car-like mobile robots using local information and formation changes in a dynamic environment having several obstacles. In addition, for every mobile robot, it takes physical dimensions, mass, moment of inertia, movement constraints, and saturation of actuators into account. This study makes use of Input/Output Feedback Linearization Method to control each robot. Hence, hierarchical leader-follower based algorithm is employed to control the group formation. To avoid collision between robots and obstacles, and of robots with each other, local arti cial potential elds are addressed. The group can change formation with respect to obstacles in the environment. Finally, simulation results of seven individual robots formation are presented to show the performance of the proposed control system.

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“…(1) de nes velocity constraints on the rear and front wheels. This means that angular velocity and central linear velocity of the robot should be in agreement with these equations [18].…”

Section: Mathematical Model Of Car-like Mobile Robotmentioning

confidence: 79%

Section: Mathematical Model Of Car-like Mobile Robotmentioning

confidence: 99%

“…Lagrange equations for nonholonomic systems with a dependent set of generalized coordinates q i 's are [18]:…”

Section: Mathematical Model Of Car-like Mobile Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations