A tracking controller for motion coordination of multiple mobile robots

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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
会议名称	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
会议录名称	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems
会议日期	August 2, 2005 - August 6, 2005
会议地点	Edmonton, AB, Canada
摘要	This 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.
关键词	Multiple Robots Tracking Controller Motion Coordination Leader-follower
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13151
专题	个人空间
通讯作者	Shao, Jinyan
作者单位	Department of Mechanics and Engineering Science, Center for Systems and Control, Peking University, Beijing, 100871, China
推荐引用方式 GB/T 7714	Shao, Jinya,Xie, Guangmin,Yu, Junzhi,et al. A tracking controller for motion coordination of multiple mobile robots[C],2005.