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Modeling and control of formations of nonholonomic mobile robots

✍ Scribed by Desai, J.P.; Ostrowski, J.P.; Kumar, V.


Book ID
115547532
Publisher
IEEE
Year
2001
Tongue
English
Weight
127 KB
Volume
17
Category
Article
ISSN
1042-296X

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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