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

fYear

2013

fDate

17-19 June 2013

Firstpage

3039

Lastpage

3044

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2013

Conference_Location

Washington, DC

ISSN

0743-1619

Print_ISBN

978-1-4799-0177-7

Type

conf

DOI

10.1109/ACC.2013.6580297

Filename

6580297