Tunnel passing maneuvers of a team of car - like robots information
Bibhya Nand Sharma, Jito Vanualailai, Shin-ichi Nakagiri, Shonal Singh · 2010
The research essays the design of a motion planner that will simultaneously manage collision and obstacle avoidances of a team of nonholonomic car-like robots fixed in prescribed formation and ensure desirable tunnel passing maneuvers. This decentralized planner, derived from the Lyapunov-based control scheme works within a leader-follower framework to generate either split/rejoin or expansion/contraction of the formation, as feasible solutions to the tunnel passing problem. In either scenario, the prescribed formation will be re-established after the tunnel has been passed. Moreover, avoidance of the walls of a tunnel will be accomplished via the minimum distance technique. The results can be viewed as a significant contribution to the intelligent vehicle systems discipline.