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  1. International Journal of Control, Automation and Systems
  2. International Journal of Control, Automation and Systems : Volume 10
  3. International Journal of Control, Automation and Systems : Volume 10, Issue 2, April 2012
  4. The leader-follower formation control of nonholonomic mobile robots
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International Journal of Control, Automation and Systems : Volume 15
International Journal of Control, Automation and Systems : Volume 14
International Journal of Control, Automation and Systems : Volume 13
International Journal of Control, Automation and Systems : Volume 12
International Journal of Control, Automation and Systems : Volume 11
International Journal of Control, Automation and Systems : Volume 10
International Journal of Control, Automation and Systems : Volume 10, Issue 6, December 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 5, October 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 4, August 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 3, June 2012
International Journal of Control, Automation and Systems : Volume 10, Issue 2, April 2012
Exponential stability analysis of planar piecewise-linear systems: An integral function approach
Stable controller design of MIMO systems in real Grassmann space
Robust consensus for networked mechanical systems with coupling time delay
Modeling and stability analysis of hybrid dynamical systems based on extended differential Petri nets
Solving a class of nonlinear optimal control problems via he’s variational iteration method
2D system approach based output feedback repetitive control for uncertain discrete-time systems
Fault detection for a class of networked nonlinear systems subject to imperfect measurements
An investigation into vehicle rollover prevention by coordinated control of active anti-roll bar and electronic stability program
Performance analysis of an INS/SLAM integrated system with respect to the geometrical arrangement of multiple vision sensors
A theoretical approach to observability analysis of the SDINS/GPS in maneuvering with horizontal constant velocity
Simulation and control of hybrid electric vehicles
Driver’s eye blinking detection using novel color and texture segmentation algorithms
Measuring pedestrian traffic using feature-based regression in the spatiotemporal domain
Robotic manipulators employing a bevel gravity compensator
The leader-follower formation control of nonholonomic mobile robots
Stereo vision based automation for a bin-picking solution
Comparative study of optimization technique for the global performance indices of the robot manipulator based on an approximate model
Exploration of local surface geometry with minimum number of contact points and surface normal information
Robust Model Reference Adaptive Intelligent Control
Data preprocessing using hybrid general regression neural networks and particle swarm optimization for remote terminal units
Adaptive synchronization of the complex dynamical network with double non-delayed and double delayed coupling
Robust adaptive motion control for underwater remotely operated vehicles with velocity constraints
A fuzzy cerebellar model articulation controller based visual servo system for robot
RBF neural networks-based robust adaptive tracking control for switched uncertain nonlinear systems
Fault tolerant control for discrete networked control systems with random faults
International Journal of Control, Automation and Systems : Volume 10, Issue 1, February 2012
International Journal of Control, Automation and Systems : Volume 9
International Journal of Control, Automation and Systems : Volume 8
International Journal of Control, Automation and Systems : Volume 7

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The leader-follower formation control of nonholonomic mobile robots

Content Provider Springer Nature Link
Author Dai, Yanyan Lee, Suk Gyu
Copyright Year 2012
Abstract In this paper, the leader-waypoint-follower formation is constructed based on relative motion states of nonholonomic mobile robots. Since the robots’ velocities are constrained, we proposed a geometrical waypoint in cone method so that the follower robots move to their desired waypoints effectively. In order to form and maintain the formation of multi-robots, we combine stable tracking control method with receding horizon (RH) tracking control method. The stable tracking control method aims to make the robot’s state errors stable and the RH tracking control method guarantees that the convergence of the state errors tends toward zero efficiently. Based on the methods mentioned above, the mobile robots formation can be maintained in any trajectory such as a straight line, a circle or a sinusoid. The simulation results based on the proposed approaches show each follower robot can move to its waypoint efficiently. To validate the proposed methods, we do the experiments with nonholonomic robots using only limited on-board sensor information.
Starting Page 350
Ending Page 361
Page Count 12
File Format PDF
ISSN 15986446
Journal International Journal of Control, Automation and Systems
Volume Number 10
Issue Number 2
e-ISSN 20054092
Language English
Publisher Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date 2012-04-17
Publisher Place Heidelberg
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Efficiency geometrical waypoint in cone method leader-follower formation stability velocity constraints Control, Robotics, Mechatronics
Content Type Text
Resource Type Article
Subject Control and Systems Engineering Computer Science Applications
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