TY - GEN
T1 - Control and navigation of formations of car-like robots on a receding horizon
AU - Saska, Martin
AU - Mejía, Juan S.
AU - Stipanovic, Dusan M.
AU - Schilling, Klaus
PY - 2009
Y1 - 2009
N2 - The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholo-nomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.
AB - The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholo-nomic car-like mobile robots and a virtual leader reaching a target zone in an environment that includes dynamic and static obstacles with arbitrary shapes, is provided in this paper. The proposed approach for solving the formation to target zone minimum time problem, is formulated using receding horizon control methodologies. Simulation results using the proposed methodology are also reported.
UR - http://www.scopus.com/inward/record.url?scp=74049125663&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=74049125663&partnerID=8YFLogxK
U2 - 10.1109/CCA.2009.5281107
DO - 10.1109/CCA.2009.5281107
M3 - Conference contribution
AN - SCOPUS:74049125663
SN - 9781424446025
T3 - Proceedings of the IEEE International Conference on Control Applications
SP - 1761
EP - 1766
BT - 2009 IEEE International Conference on Control Applications, CCA '09
T2 - 2009 IEEE International Conference on Control Applications, CCA '09
Y2 - 8 July 2009 through 10 July 2009
ER -