Publication: Formation keeping of unmanned ground vehicles
Issued Date
2017-02-09
Resource Type
ISSN
2261236X
Other identifier(s)
2-s2.0-85013361073
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Mahidol University
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SCOPUS
Bibliographic Citation
MATEC Web of Conferences. Vol.95, (2017)
Suggested Citation
Kamonwan Muangmin, Thanapat Wanichanon Formation keeping of unmanned ground vehicles. MATEC Web of Conferences. Vol.95, (2017). doi:10.1051/matecconf/20179509006 Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/42299
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Title
Formation keeping of unmanned ground vehicles
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Abstract
© The Authors, published by EDP Sciences, 2017. Controlling motions of an unmanned ground vehicle becomes more popular in real world practices. Its application is useful for household chores, military services, medical purposes, and industrial revolutions, etc. An analysis of motions by using the Fundamental Equations of Constrained Motion (FECM) is one effective tool to determine the motions. Its conceptualization is done in three-step procedure as follows: (I) Determining an unconstrained motion (II) Assigning constraint equations and (III) Computing a constrained motion. The equations of motion obtained are expressed as liner functions of acceleration. Then other kinematical information of the unmanned ground vehicles can be obtained by integration its acceleration. In this work, the FECM is used as a tool to analyze motions of a group of unmanned ground vehicles in various forms. The simulation results show that control forces obtained from the approach can regulate motions of unmanned ground vehicles to maneuver in desired formations.