NDLI: Formation control of car-like autonomous vehicles under communication delay

Content Provider	IEEE Xplore Digital Library
Author	Zhihao Xu Schroter, M. Necsulescu, D. Lei Ma Schilling, K.
Copyright Year	2012
Description	Author affiliation: University of Würzburg, Department of Computer Science VII (Zhihao Xu; Schilling, K.) \|\| Department of Mechanical Engineering, University of Ottawa, Canada (Necsulescu, D.) \|\| University of Würzburg, Department of Mathematics II (Schroter, M.) \|\| School of Electrical Engineering, Southwest Jiaotong University, China (Lei Ma)
Abstract	The topic of this paper focuses on the development of formation controller for multiple car-like mobile robots. The studied robot formation is constructed under Leader-Follower approach, so that the follower robots are able to keep constant desired distances and relative bearing angles with respect to the leader. Affected by the data transmission delay between the leader and follower robots, the formation performance is degraded, which may even lead to undesired collision of the followers. A PD-type controller is proposed to compensate the delay effect, which is proved to be stable and effective in formation keeping. Some initial studies on parameter selection were also carried out. Both simulations and hardware experiments support the implementation of this type of controller, which also showed the capability of dealing with variable time delays in the communication channel.
Starting Page	6376
Ending Page	6383
File Size	489330
Page Count	8
File Format	PDF
ISBN	9781467325813
ISSN	21612927
e-ISBN	9789881563811
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Asymptotic stability Delay effects Lead Formation control Time delay Mobile robots Autonomous mobile robots Delay Vehicles
Content Type	Text
Resource Type	Article

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