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Modeling and Control of Formations Ofnonholonomic Mobile RobotsFull Text by Juan Marcelo Tenorio Barboza is a document available to read on EtoBox.
This paper addresses the control of a team of nonholonomic mobile robots navigating in a terrain withobstacles while maintaining a desired formation and changing formations when required, using graphtheory.We model the team as a triple, (g , r, H), consisting of a group element that describes the gross positionof the lead robot, a set of shape variablesgthat describe the relative positions of robots, and a control graphHthat describes the behaviors of the robots in the formation. Our framework enables the r
- Author
- Juan Marcelo Tenorio Barboza
- Language
- EN