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Coordinated motion of autonomous mobile robots using nonholonomic reference trajectories

Güleç, Nusrettin and Ünel, Mustafa (2005) Coordinated motion of autonomous mobile robots using nonholonomic reference trajectories. In: 31st Annual Conference of the IEEE Industrial Electronics Society (IECON 2005), Raleigh, North Carolina,USA

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Official URL: http://dx.doi.org/10.1109/IECON.2005.1568927

Abstract

Modeling coordinated motion of a group of autonomous mobile robots has received significant research interest in the last decade. Previous studies have revealed that avoiding collisions with obstacles and other robots is one of the main problems in the area. Considerable amount of research effort has been concentrated on the definition of virtual forces for the generation of reference trajectories for a group of autonomous mobile robots engaged in coordinated behavior. If the mobile robots are nonholonomic, this approach fails to guarantee regulation of the tracking errors since the reference trajectories might not satisfy the nonholonomic constraint. In this work, we introduce a novel coordinated motion model inclusive of a new online collision avoidance algorithm. The proposed model enables online generation of reference trajectories for coordination among a group of autonomous nonholonomic mobile robots in terms of their linear and angular velocities; hence the reference trajectory automatically satisfies the nonholonomic constraint. Several coordinated task examples have been presented and the proposed model is verified through simulations.

Item Type:Papers in Conference Proceedings
Additional Information:IECON : proceedings of the annual conference., 31st, 2005 / edited by Leopoldo G. Franquelo .. (et al.).
Subjects:T Technology > TK Electrical engineering. Electronics Nuclear engineering
ID Code:8585
Deposited By:Mustafa Ünel
Deposited On:08 Jun 2008 20:37
Last Modified:17 Feb 2010 10:14

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