DocumentCode
1653189
Title
Distributed Formation Control of Multiple Nonholonomic Mobile Robots
Author
Yangyang, Chen ; Yuping, Tian
Author_Institution
Southeast Univ., Nanjing
fYear
2007
Firstpage
278
Lastpage
282
Abstract
This paper deals with the distributed formation control problem of multiple nonholonomic mobile robots. By using smooth time-varying feedback control approach and graph theory, a distributed formation control law is designed, which can achieve formation of a system of multiple nonholonomic mobile robots. Based on potential function, a control law for obstacle collision avoidance is constructed. Simulation results prove the validity of the proposed control laws.
Keywords
collision avoidance; feedback; graph theory; mobile robots; multi-robot systems; smoothing methods; time-varying systems; distributed formation control; graph theory; multiagent system; multiple nonholonomic mobile robots; obstacle collision avoidance; smooth time-varying feedback control; Automatic control; Collision avoidance; Control systems; Distributed control; Feedback control; Graph theory; Laplace equations; Mobile robots; Multiagent systems; Time varying systems; Distributed Formation Control; Multi-agent System; Nonholonomic Mobile Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference, 2007. CCC 2007. Chinese
Conference_Location
Hunan
Print_ISBN
978-7-81124-055-9
Electronic_ISBN
978-7-900719-22-5
Type
conf
DOI
10.1109/CHICC.2006.4347420
Filename
4347420
Link To Document