Title :
Tracking Control of Multiple-Wheeled Mobile Robots With Limited Information of a Desired Trajectory
Author_Institution :
Dept. of Electr. Eng., Univ. of Texas-Pan American, Edinburg, TX, USA
Abstract :
This paper considers the tracking control problem for a group of nonholonomic wheeled mobile robots with limited information of a desired trajectory. With the aid of communications between systems, distributed control laws are proposed such that the state of each mobile robot asymptotically tracks the desired trajectory. To show the effectiveness of the proposed approach, simulation results are presented.
Keywords :
mobile robots; tracking; trajectory control; distributed control laws; nonholonomic wheeled mobile robots; tracking control; Eigenvalues and eigenfunctions; Linear systems; Mobile robots; Robot kinematics; Symmetric matrices; Trajectory; Autonomous agents; distributed robot systems; kinematics; networked robots; wheeled robots;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2011.2166436
