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

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

8328

Lastpage

8333

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;

fLanguage

English

Publisher

ieee

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

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5399803

Filename

5399803