scholarly journals Formation Control of Mobile Robots

2006 ◽  
Vol 1 (3) ◽  
pp. 41 ◽  
Author(s):  
Dang Binh Nguyen ◽  
Khac Duc Do
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Potential Functions ◽  
Local Potential ◽  
Constructive Method ◽  
Nonholonomic Mobile Robots ◽  
Minimum Value

A constructive method is presented to design cooperative controllers that force a group of N mobile robots to achieve a particular formation in terms of shape and orientation while avoiding collisions between themselves. The control development is based on new local potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision occurs. The proposed controller development is also extended to formation control of nonholonomic mobile robots.

scholarly journals Bounded Controllers for Decentralized Formation Control of Mobile Robots with Limited Sensing

2007 ◽  
Vol 2 (4) ◽  
pp. 340 ◽  
Author(s):  
K.D. Do
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Potential Functions ◽  
Constructive Method ◽  
Minimum Value ◽  
Formation Tracking ◽  
General Potential ◽  
Limited Sensing

This paper presents a constructive method to design bounded cooperative controllers that force a group of N mobile robots with limited sensing ranges to stabilize at a desired location, and guarantee no collisions between the robots. The control development is based on new general potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision between any robots occurs. Smooth and p times differential jump functions are introduced and embedded into the potential functions to deal with the robot limited sensing ranges. Formation tracking is also considered.

Formation Control and Trajectory Tracking of Nonholonomic Mobile Robots

2018 ◽  
Vol 26 (6) ◽  
pp. 2250-2258 ◽  
Author(s):  
Akshit Saradagi ◽  
Vijay Muralidharan ◽  
Vishaal Krishnan ◽  
Sandeep Menta ◽  
Arun D. Mahindrakar
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Nonholonomic Mobile Robots

scholarly journals Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani
Keyword(s):  
Control Problem ◽  
Mobile Robots ◽  
Formation Control ◽  
Control Strategies ◽  
Reference Trajectory ◽  
Consensus Problem ◽  
Distributed Consensus ◽  
Nonholonomic Mobile Robots ◽  
Robust Adaptive ◽  
Virtual Leader

This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.

Leader-Following Formation Control of Nonholonomic Mobile Robots With Velocity Observers

2020 ◽  
Vol 25 (4) ◽  
pp. 1747-1755
Author(s):  
Xinwu Liang ◽  
Hesheng Wang ◽  
Yun-Hui Liu ◽  
Zhe Liu ◽  
Weidong Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Nonholonomic Mobile Robots ◽  
Leader Following
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