Title :
Formation control of nonholonomic mobile robots
Author :
Dong, W.J. ; Guo, Yi ; Farrell, J.A.
Author_Institution :
Dept. of Electr. Eng., California Univ., Riverside, CA
Abstract :
In this paper, formation control of a group of nonholonomic wheeled robots was considered. By introducing a unified error of the formation and trajectory tracking, state feedback control laws are proposed for formation control with a desired trajectory. Graph theory and Lyapunov theory are used in the control design. After that, by introducing observers, output feedback control laws are also proposed for the formation control. Simulation study shows the proposed controllers are effective
Keywords :
Lyapunov methods; graph theory; mobile robots; multi-robot systems; position control; state feedback; Lyapunov theory; formation control; formation unified error; graph theory; nonholonomic mobile robots; state feedback control; trajectory tracking; wheeled robot; Communication system control; Control systems; Error correction; Graph theory; Linear systems; Mobile robots; Robot kinematics; Stability; State feedback; Trajectory;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1657616
