{"title":"Trajectory tracking for multiple unicycles in the environment with obstacles","authors":"W. Kowalczyk, K. Kozlowski, J. Tar","doi":"10.1109/RAAD.2010.5524544","DOIUrl":null,"url":null,"abstract":"In the paper trajectory tracking algorithm including collision avoidance behaviour is presented. Dynamic properties of the robots are taken into account. Obstacles are assumed to be convex. Artificial potential functions (APF) are used to avoid collisions between robots and with static obstacles in the environment. Stability proof for the presented algorithm is shown and simulation results are presented to illustrate effectiveness of the algorithm.","PeriodicalId":104308,"journal":{"name":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"21","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2010)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RAAD.2010.5524544","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 21
Abstract
In the paper trajectory tracking algorithm including collision avoidance behaviour is presented. Dynamic properties of the robots are taken into account. Obstacles are assumed to be convex. Artificial potential functions (APF) are used to avoid collisions between robots and with static obstacles in the environment. Stability proof for the presented algorithm is shown and simulation results are presented to illustrate effectiveness of the algorithm.
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