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Robust Tracking Control of Mobile Robot Formation with Obstacle Avoidance
Robust Tracking Control Mobile Robot Formation Obstacle Avoidance
2009/9/7
We consider the formation control problem of multiple wheeled mobile robots with parametric uncertainties and actuator saturations in the environment with obstacles. First, a nonconvex optimization pr...
Aggregation, Foraging, and Formation Control of Swarms with Non-Holonomic Agents Using Potential Functions and Sliding Mode Techniques
Formation Control Non-Holonomic Agents Potential Functions Sliding Mode Techniques
2009/7/28
In this article we consider the aggregation, foraging, and formation control of swarms whose agents are moving in 2-dimensions with non-holonomic unicycle agent dynamics. We approach these problems us...