General Dynamic Formations for Non-holonomic Systems Along Planar Curvilinear Coordinates
This paper describes a general geometric method for planar formations of non-holonomic systems. The approach directly provides the feasible controls that each individual robot has to execute in order for the team to maintain the formation based on the controls of a reference agent, either a real leader-robot or a virtual one. In order to directly satisfy the non-holonomic constraints, the geometric reasoning takes place in curvilinear coordinates, defined by the curvature of the reference trajectory, instead of the typical rectilinear coordinates. The generality of the approach lies on the ability to define dynamic formations so as to smoothly switch between static ones, where the robots can change both of their relative coordinates as they move, and the ability to acquire a desired formation given an initial random configuration. Furthermore, it is possible to correct errors in the achieved configuration of the vehicles on the fly. Simulated experiments are presented to verify the correctness of the provided derivations.
Athanasios Krontiris Sushil Louis Kostas E. Bekris
Computer Science and Engineering Department of the University of Nevada,Reno,1664 N. Virginia St.,MS 171,Reno,NV,89557
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4903-4908
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）