Trajectory Control of Flexible Link Robots, Overhead Cranes and Mobile Robots in Formation

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Tulane University School of Science and Engineering, 2006 - 144 pages
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Thirdly, a new formation control scheme is proposed for a group of mobile robots based on multi-objective potential forces. The angle of the potential force, with respect to the global coordinate system, is used to generate trajectories for the navigation of a group of nonholonomic mobile robots. A smooth and continuous control law is designed to reduce the global orientation error asymptotically to zero while maintaining proper formation for a target configuration. Finally, a trajectory-tracking control is designed for a group of nonholonomic mobile robots in a virtually structured formation. A real-time trajectory modification scheme is presented such that the center of the mobile robots tracks a desired trajectory. Lyapunov stability theorem is applied as the mathematical design tool. Moreover, an obstacle avoidance mechanism is designed based on a formation controller such that a mobile robot can escape from concave-shaped obstacles.

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