scholarly journals Modeling and control of formations of nonholonomic mobile robots

2001 ◽  
Vol 17 (6) ◽  
pp. 905-908 ◽  
Author(s):  
J.P. Desai ◽  
J.P. Ostrowski ◽  
V. Kumar
Keyword(s):  
Mobile Robots ◽  
Nonholonomic Mobile Robots ◽  
Modeling And Control ◽  
And Control

Mobile robots in singular time-delay form – Modeling and control

2016 ◽  
Vol 353 (1) ◽  
pp. 160-179 ◽  
Author(s):  
Fotis N. Koumboulis ◽  
Nikolaos D. Kouvakas
Keyword(s):  
Time Delay ◽  
Mobile Robots ◽  
Modeling And Control ◽  
And Control ◽  
Singular Time

Dynamic Modeling and Control of Dual Wheeled Mobile Robots Compliantly Coupled to a Common Payload

1999 ◽  
Vol 121 (3) ◽  
pp. 457-461 ◽  
Author(s):  
Thurai Vinay ◽  
Bradley Postma ◽  
Theo Kangsanant
Keyword(s):  
Mobile Robots ◽  
Pole Placement ◽  
Nonlinear Controller ◽  
Wheeled Mobile Robots ◽  
Adaptive Controllers ◽  
Modeling And Control ◽  
Self Tuning ◽  
The Individual ◽  
And Control ◽  
Placement Technique

Lagrange formalism is applied to derive a dynamic model, and design a nonlinear controller for two nonholonomic, differentially steered, wheeled mobile robots compliantly linked to a common payload. The resulting multivariable system model is of a large order and can be block decoupled by selective state feedback into five independent subsystems, two of which effectively represent the deviation dynamics of the individual robots from a prescribed path; two others represent their forward motion dynamics; while the fifth describes the payload dynamics. Controllers for each of the robot subsystems, including self-tuning adaptive controllers for the nonlinear deviation dynamics subsystems, are designed by the pole-placement technique. System performance is then evaluated via simulation for the case where each robot is undergoing curvilinear motion.

scholarly journals Implementation of Leader-Follower Formation Control of a Team of Nonholonomic Mobile Robots

2017 ◽  
Vol 12 (6) ◽  
pp. 871 ◽  
Author(s):  
Augie Widyotriatmo ◽  
Endra Joelianto ◽  
Agung Prasdianto ◽  
Hafidz Bahtiar ◽  
Yul Yunazwin Nazaruddin
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Control Method ◽  
Artificial Potential Field ◽  
Multiple Robots ◽  
Nonholonomic Mobile Robots ◽  
Role Assignment ◽  
Virtual Leader ◽  
And Control

A control method for a team of multiple mobile robots performing leader-follower formation by implementing computing, communication, and control technol-ogy is considered. The strategy expands the role of global coordinator system andcontrollers of multiple robots system. The global coordinator system creates no-collision trajectories of the virtual leader which is the virtual leader for all vehicles,sub-virtual leaders which are the virtual leader for pertinent followers, and virtualfollowers. The global coordinator system also implements role assignment algorithmto allocate the role of mobile robots in the formation. The controllers of the individualmobile robots have a task to track the assigned trajectories and also to avoid collisionamong the mobile robots using the artificial potential field algorithm. The proposedmethod is tested by experiments of three mobile robots performing leader-followerformation with the shape of a triangle. The experimental results show the robustnessof formation of mobile robots even if the leader is manually moved to the arbitrarylocation, and so that the role of a leader is taken by the nearest mobile robot to thevirtual leader.

Sign in / Sign up

Export Citation Format

Share Document