Title :
Circular motion generation for mobile robots using limit cycle systems — Application to a circular formation control
Author :
Yamada, Ken-ichi ; Hara, Naoyuki ; Konishi, Keiji
Author_Institution :
Dept. of Electr. & Inf. Syst., Osaka Prefecture Univ., Sakai, Japan
Abstract :
This paper considers a circular formation control method for multiple mobile robots. We provide a circular formation control law such that multiple mobile robots converge to a circular path and form an equally spaced configuration. Numerical and experimental results are presented to demonstrate the proposed control method.
Keywords :
limit cycles; mobile robots; motion control; multi-robot systems; circular formation control; circular motion generation; limit cycle systems; multiple mobile robots; Limit-cycles; Mobile robots; Numerical simulation; Sensors; Solids; Trajectory; circular formation; collective motion; mobile robots;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
