Title :
Distributed Formation Control of Multiple Nonholonomic Mobile Robots
Author :
Yangyang, Chen ; Yuping, Tian
Author_Institution :
Southeast Univ., Nanjing
Abstract :
This paper deals with the distributed formation control problem of multiple nonholonomic mobile robots. By using smooth time-varying feedback control approach and graph theory, a distributed formation control law is designed, which can achieve formation of a system of multiple nonholonomic mobile robots. Based on potential function, a control law for obstacle collision avoidance is constructed. Simulation results prove the validity of the proposed control laws.
Keywords :
collision avoidance; feedback; graph theory; mobile robots; multi-robot systems; smoothing methods; time-varying systems; distributed formation control; graph theory; multiagent system; multiple nonholonomic mobile robots; obstacle collision avoidance; smooth time-varying feedback control; Automatic control; Collision avoidance; Control systems; Distributed control; Feedback control; Graph theory; Laplace equations; Mobile robots; Multiagent systems; Time varying systems; Distributed Formation Control; Multi-agent System; Nonholonomic Mobile Robots;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4347420
