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Formation Tracking Control and Obstacle Avoidance of Unicycle-Type Robots Guaranteeing Continuous Velocities
In this paper, we addressed the problem of controlling the position of a group of unicycle-type robots to follow in formation a time-varying reference avoiding obstacles when needed. We propose a kinematic control scheme that, unlike existing methods, is able to simultaneously solve the both tasks i...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2021
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8272089/ https://www.ncbi.nlm.nih.gov/pubmed/34206717 http://dx.doi.org/10.3390/s21134374 |