DocumentCode
632986
Title
A leader-follower approach to formation control of multiple non-holonomic mobile robots
Author
Petrinic, Toni ; Petrovic, Ivan
Author_Institution
Elektroprimorje Rijeka, HEP-ODS d.o.o., Mali Lošinj, Croatia
fYear
2013
fDate
20-24 May 2013
Firstpage
931
Lastpage
935
Abstract
Many cooperative tasks in real world environments need the robots to maintain some desired formations when moving. Formation control refers to the problem of controlling the relative position and orientation of robots in a group, while allowing the group to move as a whole. In this paper, a novel leader-follower formation control law for multiple non-holonomic mobile robots based on kinematic models and trajectory tracking techniques is proposed.
Keywords
mobile robots; motion control; multi-robot systems; robot kinematics; trajectory control; cooperative task; formation control; kinematic model; leader-follower approach; multiple nonholonomic mobile robot; orientation control; relative position control; trajectory tracking technique; Angular velocity; Lead; Mobile robots; Robot kinematics; Stability analysis; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Information & Communication Technology Electronics & Microelectronics (MIPRO), 2013 36th International Convention on
Conference_Location
Opatija
Print_ISBN
978-953-233-076-2
Type
conf
Filename
6596390
Link To Document