A Stable Formation Control Using Approximation of Translational and Angular Accelerations

Title
A Stable Formation Control Using Approximation of Translational and Angular Accelerations
Author(s)
이석규쩐뱃홍[쩐뱃홍]
Keywords
MOBILE; STABILITY; AGENTS
Issue Date
201103
Publisher
INTECH -OPEN ACCESS PUBLISHER
Citation
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, v.8, no.1, pp.65 - 75
Abstract
In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader - single follower (SLSF) or for novel two leaders - single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams.
URI
http://hdl.handle.net/YU.REPOSITORY/25503
ISSN
1729-8806
Appears in Collections:
공과대학 > 전기공학과 > Articles
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