[1] Wang Chaoli**, Tan Dalong, Wang Yuechao,. Stabilization of Dynamic Systems for MultipleOmni-Directional Mobile Robots* [J]. Journal of Southeast University (English Edition), 2001, 17 (1): 35-40. [doi:10.3969/j.issn.1003-7985.2001.01.009]
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Stabilization of Dynamic Systems for MultipleOmni-Directional Mobile Robots*(
)
一类多全方位移动机器人动力学系统的镇定
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 17
- Issue:
- 2001 1
- Page:
- 35-40
- Research Field:
- Automation
- Publishing date:
- 2001-06-30
Info
- Title:
- Stabilization of Dynamic Systems for MultipleOmni-Directional Mobile Robots*
- 一类多全方位移动机器人动力学系统的镇定
- Author(s):
- Wang Chaoli**; Tan Dalong; Wang Yuechao
- Robotic Laboratory, Chinese Academy of Sciences, Shenyang 110015, China
- PACS:
- TP13
- DOI:
- 10.3969/j.issn.1003-7985.2001.01.009
- Abstract:
- This paper deals with the stabilization of dynamic systems for two omni-directional mobile robots by using the inner product of two vectors, one is from a robot’s position to another’s, the other is from a robot’s target point to another’s. The multi-step control laws given can exponentially stabilize the dynamic system and make the distance between two robots be greater than or equal to the collision-free safe distance. The application of it to two omni-directional mobile robots is described. Simulation result shows that the proposed controller is effective.
- 本文考虑了由2个全方位移动机器人组成的混合动力学系统的协调拟镇定问题.利用机器人位置之间的向量与机器人目标之间向量的内积, 设计了多步拟镇定律, 该控制律能够在避碰后按指数速率运动到目标点, 且在整个过程中两机器人之间的距离不小于避碰的安全距离.最后对2个全方位移动机器人进行了仿真, 验证了所给方法的有效性.
References:
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[3] H.P. Huang, and P.C.Lee, A real time algorithm for obstacle avoidance of autonomous mobile robots, Robotica, vol.10, pp. 217-227, 1992
[4] J.P. Desai, and V. Kumar, Nonholonomic motion planning for multiple manipulators, In: Proc. of IEEE Int. Conf. On Robotics and Automation, Albuquerque, New Mexico, pp. 3409-3414, April 1997
[5] J. Wang, Distributed traffic regulation and control for multiple autonomous mobile robots operating in discrete space, In: Proc. of IEEE Int. Conf. On Robotics and Automation, pp. 1619-1624, 1995
[6] H. Yamaguchi, A cooperative haunting behavior by mobile-robot troops, The International of Robotics Research, vol. 18, no.8, pp. 931-940, 1999
[7] K. W. Kiyotakaizumi, Rotational control of an omnidirectional mobile robot using a fuzzy Servo controller, Advanced Robotics, vol.12, no. 3, pp. 171-189, 1998
Memo
- Memo:
- * The project supported by Knowledge Innovating Engineering of Institute of Automation, Chinese Academy of Sciences, Shenyang, and by K.C. Wong Education Foundation, Hongkong.
** Born in 1965, male, doctor, associate professor.