• DocumentCode
    3705717
  • Title

    A relative measurement based leader-follower formation control of mobile robots

  • Author

    Yu. N. Zolotukhin;K. Yu. Kotov;A. S. Maltsev;A. A. Nesterov;M. A. Sobolev;M. N. Filippov

  • Author_Institution
    Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, pr. Akademika Koptyuga 1, Novosibirsk, 630090, Russia
  • Volume
    2
  • fYear
    2015
  • fDate
    7/1/2015 12:00:00 AM
  • Firstpage
    310
  • Lastpage
    313
  • Abstract
    This paper deals with leader-follower formations of nonholonomic mobile robots and introduces a new nonlinear control method for the robot motion in formation. Proposed approach enables to track the target position and is based on using a forced movement along the desired trajectory in the state space. Moreover, this approach requires only relative and local motion sensors data. Simulation results have demonstrated the effectiviness and robustness of the proposed control shemes.
  • Keywords
    "Robots","Lead"
  • Publisher
    ieee
  • Conference_Titel
    Informatics in Control, Automation and Robotics (ICINCO), 2015 12th International Conference on
  • Type

    conf

  • Filename
    7347785
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3705717