Trajectory tracking for multiple unicycles in the environment with obstacles
Wojciech Kowalczyk, Krzysztof R. Kozlowski, József K. Tar · 2010
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.