Control and navigation of formations of car-like robots on a receding horizon

Martin Saska, Juan S. Mejía, Dusan M. Stipanovic, Klaus Schilling

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2009 IEEE International Conference on Control Applications, CCA '09
Pages1761-1766
Number of pages6
DOIs
StatePublished - Dec 1 2009
Event2009 IEEE International Conference on Control Applications, CCA '09 - Saint Petersburg, Russian Federation
Duration: Jul 8 2009Jul 10 2009

Publication series

NameProceedings of the IEEE International Conference on Control Applications

Other

Other2009 IEEE International Conference on Control Applications, CCA '09
Country/TerritoryRussian Federation
CitySaint Petersburg
Period7/8/097/10/09

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Mathematics(all)

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