DocumentCode
504602
Title
Nonlinear control for column formation of wheeled mobile robots based on vector field method
Author
Kwon, Ji-Wook ; Kim, Cheol-Joong ; Lee, Ho-Won ; Chwa, Dongkyoung ; Hong, Suk-Kyo
Author_Institution
Dept. of Electr. & Comput. Eng., Ajou Univ., Suwon, South Korea
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
4087
Lastpage
4091
Abstract
In this paper, the nonlinear control algorithm for column formation of the multiple mobile robots based on vector field method is proposed. For maintaining the column formation, the nonlinear controller which maintains the space between the leader and follower and makes the follower be on the route of the leader is designed based on vector field method.
Keywords
mobile robots; multi-robot systems; nonlinear control systems; wheels; column formation; multiple mobile robot; nonlinear control algorithm; vector field method; wheeled mobile robot; Control systems; Intelligent robots; Intelligent transportation systems; Machine vision; Mobile robots; Motion control; Optimal control; Road vehicles; Space vehicles; Vectors; Column Formation; Formation Control; Vector Field method;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5334249
Link To Document