Title :
Formation tracking control of mobile robots with limited sensing and without velocity measurements
Author_Institution :
Sch. of Mech. Eng., Univ. of Western Australia, Crawley, WA
Abstract :
This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. For each robot an interlaced observer is designed to estimate the robot unmeasured velocities. p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system.
Keywords :
cooperative systems; feedback; mobile robots; multi-robot systems; observers; position control; N unicycle-type mobile robots; differentiable jump functions; formation tracking control; interlaced observer; output-feedback cooperative controllers; Centralized control; Control systems; Force control; Mobile robots; Output feedback; Robot control; Robot sensing systems; Vehicles; Velocity control; Velocity measurement; Formation tracking; jump function; mobile robot; output feedback; potential function;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795518
