[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^*()

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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^*

Author(s):

Wang Chaoli^**;  Tan Dalong;  Wang Yuechao

Robotic Laboratory, Chinese Academy of Sciences, Shenyang 110015, China

Keywords:

omni-directional mobile robot;  dynamics;  coordination;  collision avoidance;  stabilization

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.

References:

[1] D.M. Keirsey, and E. Koch, Algorithm of navigation for a mobile robot, In: Proc. of IEEE. Int. Conf. On Robotics and Automation, vol.1, pp. 574-583, 1984
[2] D.T.Kuan, and J.C. Zamiska, Natural decomposition of free space for path planning, In: Proc. of IEEE Int. Conf. On Robotics and Automation, vol. 1, pp. 168-173, 1985
[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.

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