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Modeling and control of mobile robots for the achievement of the goal has been of high interest since the last decade. Previous research works have revealed that one of the essential problems in the area is to plan, navigate and coordinate the motion of robots avoiding obstacles as well as each other while achieving the goal. In this paper, a novel...
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Context 1
... behaviors of Message passing, Obstacle avoidance, Safe wandering, Goal seeking and Pit sensing have been designed and assigned to the individual robotic systems to form a control algorithm. The resultant algorithm is used as a realtime path planner driving 3 D.O.F differential-drive non-holonomic mobile robot as shown in Fig.1; with the azimuth rotation capability obtained by controlling the differential wheel velocities. ...
Context 2
... other layers it is modeled as a continuous data. The output of the active behaviors is the wheel velocities arbitered to the robot drive mechanism as motor control data. The position, orientation and velocity information of the robots are obtained from the following state equations by considering the kinematics of the non-holonomic robot shown in Fig. 1 & & & (1) where, x, y, q & && are the position and orientation of the robot in the 2D space, 'a' is the location of the sensor and scanning assembly a distance 'L' from the robot axis of rotation and v and w are the Linear and angular velocities respectively and they are given by 1 () ...
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