Title :
Formation control of unicycle mobile robots: a virtual structure approach
Author :
Van den Broek, Thijs H A ; Van de Wouw, Nathan ; Nijmeijer, Henk
Author_Institution :
TNO, Helmond, Netherlands
Abstract :
In this paper, the formation control problem for unicycle mobile robots is studied. A virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed approach is shown in experiments with a group of mobile robots controlled over a wireless communication network.
Keywords :
control system synthesis; mobile robots; perturbation techniques; position control; robust control; formation control; mutual coupling; perturbation; robustness; unicycle mobile robot; virtual structure control; Automatic control; Communication system control; Control systems; Kinematics; Mobile robots; Mutual coupling; Robot control; Robot sensing systems; Robotics and automation; Robustness;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5399803
