A time-varying saturated synchronous formation controller for nonholonomic mobile robots.
Ibrahim M. H. SanhouryShamsudin H. M. AminAbdul Rashid HusainPublished in: ASCC (2015)
Keyphrases
- mobile robot
- trajectory tracking control
- motion control
- formation control
- parameter uncertainties
- closed loop
- path planning
- motion planning
- obstacle avoidance
- collision avoidance
- robotic systems
- inverted pendulum
- control law
- control architecture
- control system
- sensory information
- multi robot
- feedback control
- pi control
- indoor environments
- autonomous robots
- dynamic environments
- robot control
- unknown environments
- tracking control
- optimal control
- control algorithm
- autonomous navigation
- visual servoing
- control method
- control strategy
- asynchronous communication
- adaptive control
- fuzzy controller
- trajectory planning
- variable structure
- control scheme
- pid controller
- sufficient conditions
- lyapunov function
- topological map
- control theory
- control parameters