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Experimental implementation of flocking algorithms in wheeled mobile robots

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20258

Experimental implementation of flocking algorithms in wheeled mobile robots

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Title: Experimental implementation of flocking algorithms in wheeled mobile robots
Author: Abdallah, Chaouki T.; Regmi, A.; Sandoval, R.; Byrne, R.; Tanner, H.
Subject(s): Linear feedback control systems
Lyapunov method
Mechanical sensors
Abstract: In this paper we present an experimental implementation of the flocking algorithm presented by H.G. Tanner et al., (2003) for the double integrator model, in the case of wheeled mobile robots (WMR). We use the look ahead concept to feedback linearize the WMR model and obtain its double integrator form in which we apply the control signals in the form of voltages in wheel motors. A virtual leader is used to steer the flock in the desired direction. Comparisons of the experimental results with simulation verify the robustness of this algorithm to model uncertainties and communication delays.
Date: 2005-06-08
Publisher: IEEE
Citation: Proceedings of the 2005 American Control Conference, 2005, 7: 4917-4922
Description: Digital Object Identifier: 10.1109/ACC.2005.1470774
URI: http://hdl.handle.net/1928/20258
ISSN: 0743-1619

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