Backstepping based multiple mobile robots formation control

被引：0
|
作者：
Li, XH [1 ]
Xiao, JZ [1 ]
Cai, ZJ [1 ]
机构：
[1] CUNY, Grad Ctr, Dept Elect Engn, New York, NY 10016 USA
来源：
2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 | 2005年
关键词：
formation control; multiple mobile robots;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, we investigate the leader following based formation control of multiple nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates rather than the commonly used polar coordinates in literature. Based on this new model and the idea of integrator backstepping, a globally stable controller is derived for the whole system. Simulation results are included to verify the efficacy of the presented new model and controller.
引用
收藏
页码：1313 / 1318
页数：6
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