Nonlinear formation control of unicycle-type mobile robots

被引：172

作者：

Do, K. D. ^{[1
]}

Pan, J. ^{[1
]}

机构：

[1] Univ Western Australia, Sch Mech Engn, Crawley, WA 6009, Australia

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2007年 / 55卷 / 03期

关键词：

formation; path-tracking; mobile robot; nonlinear control; output-feedback;

D O I：

10.1016/j.robot.2006.09.001

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We investigate formation control of a group of unicycle-type mobile robots at the dynamics level with a little amount of inter-robot communication. A combination of the virtual structure and path-tracking approaches is used to derive the formation architecture. Each individual robot has only position and orientation available for feedback. For each robot, a coordinate transformation is first derived to cancel the velocity quadratic terms. An observer is then designed to globally exponentially/asymptotically estimate the unmeasured velocities. An output feedback controller is designed for each robot. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robots' motion. Simulations illustrate the soundness of the proposed controller. Crown Copyright (C) 2006 Published by Elsevier B.V. All rights reserved.

引用

页码：191 / 204

页数：14

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