| || || Chand, Utesh.|
| || || Control of cooperating car-like multi-agents in constrained environments|
Institution: University of the South Pacific.
Call No.: Pac QA 76 .76 .I58 C43 2006
Copyright:Under 10% of this thesis may be copied without the authors written permission
Abstract: The concept of swarming in animals has shown a growing interest in the field of robotics. In this thesis, we will be controlling a group of car-like vehicles in a constrained environment. We propose control algorithms for a Split and Rejoin, and Tunnel Passing maneuver of a group of planar nonholonomic vehicles via the Direct Method of Lyapunov. The new continuous nonholonomic navigation laws also provide for the collision avoidance of obstacles in the path and reformation of the group. The effectiveness of the proposed control laws are demonstrated through a number of simulations for the two scenarios.