Title :
Formation control of dynamic nonholonomic mobile robots with curvature constraints via potential functions
Author :
Gouvea, Josiel A. ; Lizarralde, Fernando ; Liu Hsu
Author_Institution :
Dept. of Control & Autom. Eng., Fed. Center of Technol. Educ., Rio de Janeiro, Brazil
Abstract :
In this paper a formation control for dynamic nonholonomic mobile robots with curvature constraints and unknown dynamic parameters is proposed. The control scheme is based on a saturated potential function which makes possible the design of decentralized formation controls scheme and avoids agents collisions considering its dimensions. For each agent, a cascaded control strategy combines a controller which takes into account its dynamic, and a kinematic control, leading to an overall globally stable system.
Keywords :
cascade control; collision avoidance; control system synthesis; decentralised control; mobile robots; robot dynamics; robot kinematics; stability; agents collision avoidance; cascaded control strategy; curvature constraints; decentralized formation control scheme design; dynamic nonholonomic mobile robots; globally stable system; kinematic control; saturated potential function; unknown dynamic parameters; Collision avoidance; Kinematics; Mobile robots; Robot kinematics; Vehicle dynamics; Wheels;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580297
