NDLI: Formation control for multiple mobile robots based on Leader-following schema

Content Provider	IEEE Xplore Digital Library
Author	Shen Jie Wang Li Lin Jinguo Fei Shumin
Copyright Year	2008
Description	Author affiliation: Coll. of Autom., Nanjing Univ. of Technol., Nanjing (Shen Jie; Wang Li; Lin Jinguo)
Abstract	In order to describe the movement of multi-robot queue, the model of formation is defined in view of relative poses of multiple mobile robots. The idea of switching control is introduced based on leader-following schema. The front point and rear point of the axis of leading robot is determined as reference points by the following robot. The sub-controller is designed corresponding to the reference point so that the exponential stability of the system is realized. The condition of switching of two controllers is based on the sign of leading robot speed. By the application of the control method presented in this paper, the desired formation is not only realized, but also the movement of multi-robot queue is steadier. The results of simulation show the uniform movements are realized for multiple mobile robots.
Starting Page	207
Ending Page	211
File Size	242034
Page Count	5
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605305
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Robot kinematics Conferences Multiple mobile robots Switches Pose Lead Control systems Formation control Mobile robots Exponential stability Switching control Robots
Content Type	Text
Resource Type	Article

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