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In this article we present novel formation control laws based on artificial potential fields and consensus algorithms for a group of unicycles enabling arbitrary formation patterns for these nonholonomic vehicles. Given connected and balanced graphs we are able to prove stability of the rendezvous controller by applying the LaSalle-Krasovskii invariance principle. Further, we introduce obstacle avoidance,...
We consider the problem of formation flight for a set of unmanned air vehicles (UAV) in a possible obstacle laden environment. A novel decentralized control design procedure is developed which guarantees collision and obstacle avoidance. The control design is based on a modified virtual leader-follower structure and a simple consensus protocol. Vehicle collision and obstacle avoidance is ensured by...
Classical motion planners and most of navigation routines discard dynamics of the system and therefore fail in some special conditions. If a robot is moving towards an obstacle with a high acceleration and speed, collision is inevitable because the obstacles are taken into account only either once they are in range, or a physical collision is reported by detection routines. In this paper, we have...
This paper gives the fuzzy velocity control of a mobile robot motion in an unknown environment with obstacles. The model of the vehicle has two driving wheels and the angular velocities of the two wheels are independently controlled. When the vehicle is moving towards the target and the sensors detect an obstacle, an avoiding strategy and velocity control are necessary. We proposed a fuzzy reactive...
Autonomous system have been interesting topic in the world of robotics, in order to replace human being. Intelligent vehicle is one of the popular autonomous system that gives many advantage for this world, not only in military but also civilian. Route control and obstacle avoidance are now considered as major problems in autonomous system. In this paper, new methods of routing and avoidance algorithm...
The paper describes the software architecture of an autonomous mobile outdoor robot (AMOR). The robot is intended for robust operation in heavy terrain under arbitrary weather condition. The software is implemented in a layered architecture, possessing behaviour based and model based components. The multitude of different sensors is unified by a virtualisation layer, which allows easy reconfiguration...
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