Title :
Nonlinear control for column formation of wheeled mobile robots based on vector field method
Author :
Kwon, Ji-Wook ; Kim, Cheol-Joong ; Lee, Ho-Won ; Chwa, Dongkyoung ; Hong, Suk-Kyo
Author_Institution :
Dept. of Electr. & Comput. Eng., Ajou Univ., Suwon, South Korea
Abstract :
In this paper, the nonlinear control algorithm for column formation of the multiple mobile robots based on vector field method is proposed. For maintaining the column formation, the nonlinear controller which maintains the space between the leader and follower and makes the follower be on the route of the leader is designed based on vector field method.
Keywords :
mobile robots; multi-robot systems; nonlinear control systems; wheels; column formation; multiple mobile robot; nonlinear control algorithm; vector field method; wheeled mobile robot; Control systems; Intelligent robots; Intelligent transportation systems; Machine vision; Mobile robots; Motion control; Optimal control; Road vehicles; Space vehicles; Vectors; Column Formation; Formation Control; Vector Field method;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
