Control of a Set of Unicycle-Like Robots Using an Approximate Linearisation
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
2020
chapter in monograph / paper
english
- mobile robotics
- nonholonomic systems
- navigation
- multi-agent systems
- transverse functions approach
- potential functions
EN The paper deals with an alternative approach to control of a group of unicycle-like robots. The proposed algorithm is based on an approximate linearisation taking advantage of a dynamic feedback employing a transverse function. As a result, unicycle-like robots can be roughly perceived as unconstrained planar systems for which typical potential-like navigation methods can be used. In this paper both position and orientation stabilisation problem are discussed and a basic navigation algorithm for dynamic and static circular obstacles is proposed. The considered control/navigation method is verified numerically for the selected simulation scenario.
24.06.2020
954 - 966
20