DocumentCode
2742244
Title
Distributed formation control for nonholonomic mobile robots
Author
Wang, Jing ; Obeng, Morrison S.
Author_Institution
Sch. of Sci., Eng. & Math., Bethune-Cookman Univ., Daytona Beach, FL, USA
fYear
2012
fDate
17-20 June 2012
Firstpage
389
Lastpage
392
Abstract
In this paper, we propose a new nonlinear cooperative steering control to solve the formation control problem for multiple mobile robots with nonholonomic constraints. By using a new contraction mapping method, it is rigorously proved that the proposed cooperative formation control is asymptotically stabilizing under the condition that the sensing/communication network among robots is sequentially complete. Simulation results are included to illustrate the effectiveness of the proposed control.
Keywords
distributed control; mobile robots; nonlinear control systems; position control; contraction mapping method; cooperative formation control; distributed formation control; nonholonomic constraints; nonholonomic mobile robots; nonlinear cooperative steering control; Control design; Mobile robots; Robot kinematics; Robot sensing systems; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Sensor Array and Multichannel Signal Processing Workshop (SAM), 2012 IEEE 7th
Conference_Location
Hoboken, NJ
ISSN
1551-2282
Print_ISBN
978-1-4673-1070-3
Type
conf
DOI
10.1109/SAM.2012.6250519
Filename
6250519
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