DC Field | Value | Language |
---|---|---|
dc.contributor.author | Widyotriatmo, A. | ko |
dc.contributor.author | Joelianto, E. | ko |
dc.contributor.author | Burohman, A. M. | ko |
dc.contributor.author | Damanik, Joshua Julian | ko |
dc.contributor.author | Nazaruddin, Y. Y. | ko |
dc.date.accessioned | 2023-07-19T02:01:40Z | - |
dc.date.available | 2023-07-19T02:01:40Z | - |
dc.date.created | 2022-05-06 | - |
dc.date.issued | 2023-07 | - |
dc.identifier.citation | JOURNAL OF CONTROL AND DECISION, v.10, no.3, pp.301 - 313 | - |
dc.identifier.issn | 2330-7706 | - |
dc.identifier.uri | http://hdl.handle.net/10203/310601 | - |
dc.description.abstract | This paper considers a polygon formation control of multiple robots with nonholonomic constraints enclosing a goal target and double-level-control collision avoidance scheme. Double-level-control scheme consisted of upper-level and lower-level controls are proposed for trajectory generation and tracking control of multi-robot systems. Both upper-level and lower-level controls operate collision avoidance mechanisms based on potential functions. The proposed control scheme guarantees that the group of robots are kept in the polygon formation and driven to a goal, while avoiding collisions during the travel. Moreover, the designed interaction between the upper- and lower-level controls guarantees that the mobile robots are not trapped in local minima or deadlock case. Experiments of the formation of three-robots are conducted to show the performance of the mobile robots in accomplishing a polygon formation while achieving the goal without any collision and no local minima. | - |
dc.language | English | - |
dc.publisher | TAYLOR & FRANCIS LTD | - |
dc.title | Polygon formation of multiple nonholonomic mobile robots with double-level-control collision avoidance scheme | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-85129627548 | - |
dc.type.rims | ART | - |
dc.citation.volume | 10 | - |
dc.citation.issue | 3 | - |
dc.citation.beginningpage | 301 | - |
dc.citation.endingpage | 313 | - |
dc.citation.publicationname | JOURNAL OF CONTROL AND DECISION | - |
dc.identifier.doi | 10.1080/23307706.2022.2064341 | - |
dc.contributor.nonIdAuthor | Widyotriatmo, A. | - |
dc.contributor.nonIdAuthor | Joelianto, E. | - |
dc.contributor.nonIdAuthor | Burohman, A. M. | - |
dc.contributor.nonIdAuthor | Nazaruddin, Y. Y. | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Artificial potential function | - |
dc.subject.keywordAuthor | collision avoidance | - |
dc.subject.keywordAuthor | formation control | - |
dc.subject.keywordAuthor | multi-robot systems | - |
dc.subject.keywordAuthor | polygon formation | - |
dc.subject.keywordPlus | IMPLEMENTATION | - |
dc.subject.keywordPlus | ALGORITHMS | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | DESIGN | - |
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