The paper deals with leader-follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots' control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible pos
Formation control of multiple nonholonomic mobile robots
β Scribed by Takashi Ikeda; Jurachart Jongusuk; Takayuki Ikeda; Tsutomu Mita
- Publisher
- John Wiley and Sons
- Year
- 2006
- Tongue
- English
- Weight
- 768 KB
- Volume
- 157
- Category
- Article
- ISSN
- 0424-7760
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
In the practical design of nonholonomic control systems, saturated input is an important issue to consider. A number of stabilizing controllers for chained forms with bounded inputs have been proposed by different researchers. Under some conditions, nonholonomic wheeled mobile robots (NWMR) can be t
This paper presents a framework to deal with the problem of global stabilization and global tracking control for the kinematic model of a wheeled mobile robot in the presence of input saturations. A model-based control design strategy is developed via a simple application of passivity and normalizat
A tracking controller for nonholonomic dynamic systems is proposed which allows global tracking of arbitrary reference trajectories and renders the closed loop system robust with respect to bounded disturbances. The controller is based on [Chwa, D. (2004). Sliding-mode tracking control of nonholonom