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
fDate :
7/1/2015 12:00:00 AM
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"
Conference_Titel :
Informatics in Control, Automation and Robotics (ICINCO), 2015 12th International Conference on
