NDLI: Consensus based attractive vector approach for formation control of nonholonomic mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Jingfu Jin Yoon-Gu Kim Sung-Gil Wee Gans, N.
Copyright Year	2015
Description	Author affiliation: Wellness Convergence Res. Center, DGIST, Daegu, South Korea (Yoon-Gu Kim; Sung-Gil Wee) \|\| Dept. of Electr. Eng., Univ. of Texas at Dallas, Richardson, TX, USA (Jingfu Jin; Gans, N.)
Abstract	A novel, decentralized switched-system approach is proposed to address the problem of controlling multiple nonholonomic mobile robots to achieve a desired formation as well as heading consensus. The formation is induced by each robot following an attractive vector derived using a virtual, isomorphic graph. Then, a novel switching control law is designed such that each robot follows its attractive vector and achieves consensus on the virtual graph, which will result in the multiple robot systems moving to the desired formation and achieving heading consensus. We prove the proposed control scheme is asymptotically stable. To verify the effectiveness of the proposed approach, a simulation and an experimental results are provided.
Sponsorship	IEEE Ind. Electron. Soc. (IES)
Starting Page	977
Ending Page	983
File Size	363748
Page Count	7
File Format	PDF
e-ISBN	9781467391078
DOI	10.1109/AIM.2015.7222666
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-07
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Collision avoidance Robot sensing systems Mobile robots Switches
Content Type	Text
Resource Type	Article

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