Leader-follower formation control of nonholonomic mobile robots with input constraints

被引：553

作者：

Consolini, Luca ^{[1
]}

Morbidi, Fabio ^{[2
]}

Prattichizzo, Domenico ^{[2
]}

Tosques, Mario ^{[3
]}

机构：

[1] Univ Parma, Dept Informat Engn, I-43100 Parma, Italy

[2] Univ Siena, Dept Informat Engn, I-53100 Siena, Italy

[3] Univ Parma, Dept Civil Engn, I-43100 Parma, Italy

来源：

AUTOMATICA | 2008年 / 44卷 / 05期

关键词：

formations control; autonomous mobile robots; input constraints; geometric approach; stabilization;

D O I：

10.1016/j.automatica.2007.09.019

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper deals with leader-follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots' control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible positions of the follower with respect to the leader. A peculiar characteristic of the proposed strategy is that the follower position is not rigidly fixed with respect to the leader but varies in proper circle arcs centered in the leader reference frame. (c) 2008 Elsevier Ltd. All rights reserved.

引用

页码：1343 / 1349

页数：7

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