Title :
Formation control of robotic vehicles
Author :
Wang, Zheng ; Tan, Dalong ; Goldsmith, Peter B.
Author_Institution :
Dept. of Mech. Eng., Calgary Univ., Alta.
Abstract :
In this paper, the problem of formation control of robotic vehicles is studied. For a general formation (path, tree, or net) with one leader, a decentralized controller is proposed that yields exponential stability of the formation. Simulations validate the theoretical results
Keywords :
asymptotic stability; decentralised control; mobile robots; motion control; path planning; position control; decentralized controller; exponential stability; formation control; robotic vehicles; Automatic control; Content addressable storage; Equations; Helium; Mobile robots; Robot control; Robot kinematics; Robotics and automation; Stability; Vehicles;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246401
