Trajectory tracking for multiple unicycles in the environment with obstacles

Wojciech Kowalczyk, Krzysztof Kozlowski, Jozsef K. Tar

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

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.

Original languageEnglish
Title of host publication19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010
Pages451-456
Number of pages6
DOIs
Publication statusPublished - Sep 1 2010
Event19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Balatonfured, Hungary
Duration: Jun 26 2010Jun 27 2010

Publication series

Name19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Proceedings

Other

Other19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010
CountryHungary
CityBalatonfured
Period6/26/106/27/10

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Keywords

  • Artificial potential function
  • Collision avoidance
  • Mobile robots
  • Trajectory tracking

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition

Cite this

Kowalczyk, W., Kozlowski, K., & Tar, J. K. (2010). Trajectory tracking for multiple unicycles in the environment with obstacles. In 19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 (pp. 451-456). [5524544] (19th International Workshop on Robotics in Alpe-Adria-Danube Region, RAAD 2010 - Proceedings). https://doi.org/10.1109/RAAD.2010.5524544