On the Rendezvous problem for Groups of Car-like Mobile Robots

作     者：Martin Hess Klaus Schilling 

作者机构：Computer Science VII: Robotics and Telematics University of Wuerzburg Germany 

出 版 物：《IFAC Proceedings Volumes》 

年 卷 期：2009年第42卷第22期

页      面：50-55页

主　　题：Distributed control discontinuous control autonomous mobile robots robot rendezvous 

摘      要：This paper deals with the rendezvous for groups of car-like mobile robots. In the main part of this work we solve the rendezvous problem for bounded steering vehicles by applying discontinuous feedback control in combination with a specific switching logic. This logic commands certain vehicles to perform orientation adjusting maneuvers that drive the system out of undesired equilibria. The developed control system is demonstrated in several laboratory hardware experiments.