Stabilization of Dynamic Systems for Multiple Omni-Directional Mobile Robots
作者机构：中国科学院机器人学开放研究实验室沈阳110015
基 金：KnowledgeInnovatingEngineeringofInstituteofAutomation ChineseAcademyofSciencesShenyang byK .C .WongEducationFoundation Hongkong
出 版 物：《Journal of Southeast University(English Edition)》 (东南大学学报（英文版）)
年 卷 期：2001年第17卷第1期
页 码：35-40页
摘 要：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.
主 题 词：omni directional mobile robot dynamics coordination collision avoidance stabilization
学科分类：0711[理学-心理学类] 07[理学] 08[工学] 081101[081101] 0811[工学-水利类] 071102[071102] 081103[081103]
D O I：10.3969/j.issn.1003-7985.2001.01.009
馆 藏 号：203678948...
