Title :
Formation control of multiple wheeled mobile robots via leader-follower approach
Author :
Tao Peng ; Shan Li
Author_Institution :
Coll. of Electron. Inf. & Autom., Chongqing Univ. of Technol., Chongqing, China
fDate :
May 31 2014-June 2 2014
Abstract :
This paper investigates the formation control of multiple wheeled mobile robots with differential drive. Based on the kinematics models of the leader-follower system in Cartesian coordinates, four control laws are derived by the straightforward input-output linearization method, and asymptotical stable for the formation control system is achieved by the proposed control laws. Simulation studies are included to demonstrate the effectiveness of the proposed method.
Keywords :
asymptotic stability; linearisation techniques; mobile robots; multi-robot systems; position control; Cartesian coordinates; asymptotic stability; control law; differential drive; formation control system; input-output linearization method; kinematics models; leader-follower approach; multiple wheeled mobile robots; Lead; Mobile robots; Robot kinematics; Trajectory; Wheels; Multiple wheeled mobile robots; differential drive; formation control; leader-follower; nonlinear system;
Conference_Titel :
Control and Decision Conference (2014 CCDC), The 26th Chinese
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-3707-3
DOI :
10.1109/CCDC.2014.6852920
