MATEC Web Conf.
Volume 95, 20172016 the 3rd International Conference on Mechatronics and Mechanical Engineering (ICMME 2016)
|Number of page(s)||4|
|Section||Vehicle Structure Design and Manufacturing|
|Published online||09 February 2017|
Formation keeping of unmanned ground vehicles
Department of Mechanical Engineering, Mahidol University, 25/25 Puttamonthon NakornPathom 73170, Thailand
a Corresponding author: firstname.lastname@example.org
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.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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