A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team
المؤلفون المشاركون
Sharma, Bibhya
Vanualailai, Jito
Prasad, Avinesh
المصدر
Journal of Advanced Transportation
العدد
المجلد 2017، العدد 2017 (31 ديسمبر/كانون الأول 2017)، ص ص. 1-17، 17ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2017-09-24
دولة النشر
مصر
عدد الصفحات
17
التخصصات الرئيسية
الملخص EN
This paper describes the design of new centralized acceleration-based controllers for the multitask problem of motion planning and control of a coordinated lead-carrier team fixed in a dual-formation within an obstacle-ridden environment.
A dϕ-strategy, where d and ϕ are Euclidean measures with respect to the lead robot, is developed to ensure virtual connectivity of the carrier robots to the lead robot.
This connectivity, built into the system itself, inherently ensures globally rigid formation between each lead-carrier pair of the team.
Moreover, a combination of target configuration, dϕ-strategy, orientation consensus, and avoidance of end-effector of robots results in a second, locally rigid formation (not infinitesimally rigid).
Therefore, for the first time, a dual-formation control problem of a lead-carrier team of mobile manipulators is considered.
This and other kinodynamic constraints have been treated simultaneously via the overarching Lyapunov-based control scheme, essentially a potential field method favored in the field of robotics.
The formulation of this new scheme, demonstrated effectively via computer simulations, is timely, given that the current proposed engineering solutions, allowing autonomous vehicles on public roads, include the development of special lanes imbued with special sensors and wireless technologies.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Sharma, Bibhya& Vanualailai, Jito& Prasad, Avinesh. 2017. A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team. Journal of Advanced Transportation،Vol. 2017, no. 2017, pp.1-17.
https://search.emarefa.net/detail/BIM-1171091
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Sharma, Bibhya…[et al.]. A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team. Journal of Advanced Transportation No. 2017 (2017), pp.1-17.
https://search.emarefa.net/detail/BIM-1171091
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Sharma, Bibhya& Vanualailai, Jito& Prasad, Avinesh. A dϕ-Strategy: Facilitating Dual-Formation Control of a Virtually Connected Team. Journal of Advanced Transportation. 2017. Vol. 2017, no. 2017, pp.1-17.
https://search.emarefa.net/detail/BIM-1171091
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1171091
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر