Preservation of formation tracking under incomplete information and chaotic path-following

E. G. Hernandez-Martinez, J. J. Flores-Godoy, G. Fernandez-Anaya

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

This paper presents a formation tracking strategy based on local potential functions and the leader-followers scheme for a group of point robots moving in the space. A leader robot is chosen to follow a prescribed trajectory whilst the rest, considered as followers, are formed in an open chain configuration. The formation convergence and the path following, including chaotic trajectories, are guaranteed if every follower robot measures exactly the velocity of the next robot and the leader knows the velocity of the marching path. Then, we analyze the preservation of the formation using approximations of the velocities of robots and the chaotic path. These restrictions appear in real implementations in robots equipped by position sensors only and where the velocities functions are approximated by online numerical methods.

Idioma originalInglés
Título de la publicación alojada3rd IFAC Conference on Analysis and Control of Chaotic Systems, CHAOS 2012
EditorialIFAC Secretariat
Páginas137-142
Número de páginas6
Edición12
ISBN (versión impresa)9783902823021
DOI
EstadoPublicada - 2012
Publicado de forma externa
Evento3rd IFAC Conference on Analysis and Control of Chaotic Systems, CHAOS 2012 - Cancun
Duración: 20 jun. 201222 jun. 2012

Serie de la publicación

NombreIFAC Proceedings Volumes (IFAC-PapersOnline)
Número12
Volumen45
ISSN (versión impresa)1474-6670

Conferencia

Conferencia3rd IFAC Conference on Analysis and Control of Chaotic Systems, CHAOS 2012
País/TerritorioMexico
CiudadCancun
Período20/06/1222/06/12

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