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A tracking controller for motion coordination of multiple mobile robots
Shao, Jinya; Xie, Guangmin; Yu, Junzhi; Wang, Lon; Shao, Jinyan
2005
Conference NameIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
Source PublicationIEEE IRS/RSJ International Conference on Intelligent Robots and Systems
Conference DateAugust 2, 2005 - August 6, 2005
Conference PlaceEdmonton, AB, Canada
AbstractThis paper presents a new method for controlling a group of nonholonomic mobile robots to achieve predetermined formations without using global knowledge. Based on the dynamic leader-follower model, a reactive tracking controller is proposed to make each following robot maintain a desired pose to its leader, and the stability property of this controller is discussed using Lyapunov theory. By employing such controllers, the N-robot formation control problem can be decomposed into decentralized tracking problems between N-1 followers and designated leaders. Additionally, graph theory is introduced to formalize general formation patterns in a simple but effective way and two types of switching between these formations are also proposed. Numerical simulations and physical robots experiments show the effectiveness of our approach.
KeywordMultiple Robots Tracking Controller Motion Coordination Leader-follower
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13151
Collection个人空间
Corresponding AuthorShao, Jinyan
AffiliationDepartment of Mechanics and Engineering Science, Center for Systems and Control, Peking University, Beijing, 100871, China
Recommended Citation
GB/T 7714
Shao, Jinya,Xie, Guangmin,Yu, Junzhi,et al. A tracking controller for motion coordination of multiple mobile robots[C],2005.
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