Virtual-head robot tracking and three-point l-l control for multiple mobile robots

Nguyen, AD; Ha, QP; Nguyen, HT

Virtual-head robot tracking and three-point l-l control for multiple mobile robots

Nguyen, AD Ha, QP

Nguyen, HT

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Publication Type:: Conference Proceeding
Citation:: Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications, 2006, 2006 pp. 73 - 78
Issue Date:: 2006-12-15

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Field	Value	Language
dc.contributor.author	Nguyen, AD	en_US
dc.contributor.author	Ha, QP https://orcid.org/0000-0003-0978-1758	en_US
dc.contributor.author	Nguyen, HT https://orcid.org/0000-0003-3373-8178	en_US
dc.date.issued	2006-12-15	en_US
dc.identifier.citation	Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications, 2006, 2006 pp. 73 - 78	en_US
dc.identifier.isbn	076952589X	en_US
dc.identifier.isbn	9780769525891	en_US
dc.identifier.uri	http://hdl.handle.net/10453/2778
dc.description.abstract	In the context of robotic formation control, the commonly-used virtual robot tracking combined with l-l control has limitations in the establishment of a line formation, the possibility of collision between robots, and the singularity cases involved. This paper presents a new approach called the virtual-head robot tracking and three-point l-l control incorporated with a reactive control scheme. The proposed approach, tested through extensive simulations, can demonstrate line formations of a group of mobile robots with singularities alleviated and inter-robot collision completely avoided. © 2006 IEEE.	en_US
dc.relation.ispartof	Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications	en_US
dc.relation.isbasedon	10.1109/DIS.2006.74	en_US
dc.title	Virtual-head robot tracking and three-point l-l control for multiple mobile robots	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2006	en_US
utslib.for	0913 Mechanical Engineering	en_US
dc.location.activity	Prague, CZECH REPUBLIC	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure
pubs.organisational-group	/University of Technology Sydney/Strength - CHT - Health Technologies
utslib.copyright.status	closed_access
pubs.publication-status	Published	en_US
pubs.volume	2006	en_US

Abstract:

In the context of robotic formation control, the commonly-used virtual robot tracking combined with l-l control has limitations in the establishment of a line formation, the possibility of collision between robots, and the singularity cases involved. This paper presents a new approach called the virtual-head robot tracking and three-point l-l control incorporated with a reactive control scheme. The proposed approach, tested through extensive simulations, can demonstrate line formations of a group of mobile robots with singularities alleviated and inter-robot collision completely avoided. © 2006 IEEE.

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http://hdl.handle.net/10453/2778