Title :
A tracking controller for motion coordination of multiple mobile robots
Author :
Shao, Jinyan ; Xie, Guangming ; Yu, Junzhi ; Wang, Long
Author_Institution :
Dept. of Mech. & Eng. Sci., Peking Univ., Beijing, China
Abstract :
This paper presents a new method for controlling a group of nonholonomic mobile robots to achieve predetermined formations without using global knowledge. Based on the dynamic leader-follower model, a reactive tracking controller is proposed to make each following robot maintain a desired pose to its leader, and the stability property of this controller is discussed using Lyapunov theory. By employing such controllers, the N-robot formation control problem can be decomposed into decentralized tracking problems between N-l followers and designated leaders. Additionally, graph theory is introduced to formalize general formation patterns in a simple but effective way and two types of switching between these formations are also proposed. Numerical simulations and physical robots experiments show the effectiveness of our approach.
Keywords :
Lyapunov methods; graph theory; mobile robots; multi-robot systems; position control; Lyapunov theory; N-robot formation control; dynamic leader-follower model; graph theory; motion coordination; multiple mobile robots; nonholonomic mobile robots; reactive tracking controller; Communication system control; Control systems; Maintenance engineering; Mobile robots; Motion control; Robot control; Robot kinematics; Shape control; Stability; Tracking; Leader-follower; Motion coordination; Multiple robots; Tracking controller;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545164