The Leader-Follower Formation Control of Nonholonomic Mobile Robots

Title
The Leader-Follower Formation Control of Nonholonomic Mobile Robots
Author(s)
이석규대염염[대염염]
Keywords
INFORMATION; TRACKING
Issue Date
201204
Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
Citation
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.10, no.2, pp.350 - 361
Abstract
In this paper, the leader-waypoint-follower formation is constructed based on relative motion states of nonholonomic mobile robots. Since the robots' velocities are constrained, we proposed a geometrical waypoint in cone method so that the follower robots move to their desired waypoints effectively. In order to form and maintain the formation of multi-robots, we combine stable tracking control method with receding horizon (RH) tracking control method. The stable tracking control method aims to make the robot's state errors stable and the RH tracking control method guarantees that the convergence of the state errors tends toward zero efficiently. Based on the methods mentioned above, the mobile robots formation can be maintained in any trajectory such as a straight line, a circle or a sinusoid. The simulation results based on the proposed approaches show each follower robot can move to its waypoint efficiently. To validate the proposed methods, we do the experiments with nonholonomic robots using only limited on-board sensor information.
URI
http://hdl.handle.net/YU.REPOSITORY/28572http://dx.doi.org/10.1007/s12555-012-0215-x
ISSN
1598-6446
Appears in Collections:
공과대학 > 전기공학과 > Articles
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