在后退的地平线上控制和导航类似汽车的机器人编队

2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC) Pub Date : 2009-07-08 DOI:10.1109/CCA.2009.5281107

M. Saska, J. S. Mejía, D. Stipanović, K. Schilling

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引用次数: 27

摘要

本文给出了在包含任意形状的动、静态障碍物的环境中，由非完整的类车移动机器人和虚拟领导者组成的编队到达目标区域的最小时间最优控制问题的公式和解。提出了一种求解地层到目标区最短时间问题的方法，该方法采用后向层位控制方法。本文还报道了采用该方法的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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

The formulation and solution of a minimum time optimal control problem for a formation conformed by nonholonomic 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.

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来源期刊

2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC)

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