Opening book details…
Can I read Coordinated Planar Path-Following Control for Multiple Nonholonomic Wheeled Mobile Robots on EtoBox?
Coordinated Planar Path-Following Control for Multiple Nonholonomic Wheeled Mobile Robots by Zongyu Zuo; Jiawei Song; Qing-Long Han is a Computer Science article available to read on EtoBox.
What is Coordinated Planar Path-Following Control for Multiple Nonholonomic Wheeled Mobile Robots about?
This article is concerned with both consensus and coordinated path-following control for multiple nonholonomic wheeled mobile robots. In the design, the path-following control is decoupled into the longitudinal control (speed control) and the lateral control (heading control) for the convenience of implementation. Different from coordinated trajectory tracking control schemes, the proposed control scheme removes the temporal constraint, which greatly improves the coordination robustness. In particular, two new coordinated error variables describing a chasing-and-waiting strategy are introduced in the proposed coordinated path-following control for injective paths and circular paths, respectively. All the closed-loop signals have proved to be asymptotically stable in the Lyapunov sense. Finally, simulation results under three typical paths are presented to verify the proposed coordination controllers.
Who reads Coordinated Planar Path-Following Control for Multiple Nonholonomic Wheeled Mobile Robots?
It is typically read by researchers, students, and practitioners in Computer Science.
- Author
- Zongyu Zuo; Jiawei Song; Qing-Long Han
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Published
- 2022
- Language
- EN
- Field
- Computer Science (Physical Sciences)