Formation tracking control of mobile robots with limited sensing and without velocity measurements

Author

Do, K.D.

Author_Institution

Sch. of Mech. Eng., Univ. of Western Australia, Crawley, WA

fYear

2008

fDate

17-20 Dec. 2008

Firstpage

204

Lastpage

209

Abstract

This paper presents a constructive method to design output-feedback cooperative controllers that force a group of N unicycle-type mobile robots with limited sensing ranges to perform desired formation tracking, and guarantee no collisions between the robots. For each robot an interlaced observer is designed to estimate the robot unmeasured velocities. p times differentiable jump functions are introduced and incorporated into novel potential functions to design a formation tracking control system.

Keywords

cooperative systems; feedback; mobile robots; multi-robot systems; observers; position control; N unicycle-type mobile robots; differentiable jump functions; formation tracking control; interlaced observer; output-feedback cooperative controllers; Centralized control; Control systems; Force control; Mobile robots; Output feedback; Robot control; Robot sensing systems; Vehicles; Velocity control; Velocity measurement; Formation tracking; jump function; mobile robot; output feedback; potential function;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on

Conference_Location

Hanoi

Print_ISBN

978-1-4244-2286-9

Electronic_ISBN

978-1-4244-2287-6

Type

conf

DOI

10.1109/ICARCV.2008.4795518

Filename

4795518