Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F10%3A00169053" target="_blank" >RIV/68407700:21230/10:00169053 - isvavai.cz</a>
Result on the web
—
DOI - Digital Object Identifier
—
Alternative languages
Result language
angličtina
Original language name
Navigation and Formation Control Employing Complementary Virtual Leaders for Complex Maneuvers
Original language description
Complex maneuvers of formations of car-like autonomous vehicles are investigated in this paper. The proposed algorithm provides a complete plan for the formation to solve desired tasks and actual control inputs for each robot to ensure collision-free trajectories with respect to neighboring robots as well as dynamic obstacles. The method is based on utilization of complementary virtual leaders whose control inputs are obtained in one merged optimization process using receding horizon control methodologies. The functionality of the system, which enables reverse driving and arbitrary rotations of formations of nonholonomic robots, is verified by simulations of multi-robot tasks and by hardware experiments.
Czech name
—
Czech description
—
Classification
Type
D - Article in proceedings
CEP classification
JC - Computer hardware and software
OECD FORD branch
—
Result continuities
Project
<a href="/en/project/2C06005" target="_blank" >2C06005: A System for robotic e-learning</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>Z - Vyzkumny zamer (s odkazem do CEZ)<br>S - Specificky vyzkum na vysokych skolach
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
7th international Conference on Informatics in Control, Automation and Robotics
ISBN
978-989-8425-01-0
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
—
Publisher name
University of Angers
Place of publication
Angers
Event location
Funchal, Madeira
Event date
Jun 15, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
—