A tracking controller for motion coordination of multiple mobile robots
文献类型:会议论文
作者 | Shao, Jinya; Xie, Guangmin; Yu, Junzhi![]() |
出版日期 | 2005 |
会议日期 | August 2, 2005 - August 6, 2005 |
会议地点 | Edmonton, AB, Canada |
关键词 | Multiple Robots Tracking Controller Motion Coordination Leader-follower |
英文摘要 | This paper presents a new method for controlling a group of nonholonomic mobile robots to achieve predetermined formations without using global knowledge. Based on the dynamic leader-follower model, a reactive tracking controller is proposed to make each following robot maintain a desired pose to its leader, and the stability property of this controller is discussed using Lyapunov theory. By employing such controllers, the N-robot formation control problem can be decomposed into decentralized tracking problems between N-1 followers and designated leaders. Additionally, graph theory is introduced to formalize general formation patterns in a simple but effective way and two types of switching between these formations are also proposed. Numerical simulations and physical robots experiments show the effectiveness of our approach. |
会议录 | IEEE IRS/RSJ International Conference on Intelligent Robots and Systems
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源URL | [http://ir.ia.ac.cn/handle/173211/13151] ![]() |
专题 | 自动化研究所_个人空间 |
通讯作者 | Shao, Jinyan |
作者单位 | Department of Mechanics and Engineering Science, Center for Systems and Control, Peking University, Beijing, 100871, China |
推荐引用方式 GB/T 7714 | Shao, Jinya,Xie, Guangmin,Yu, Junzhi,et al. A tracking controller for motion coordination of multiple mobile robots[C]. 见:. Edmonton, AB, Canada. August 2, 2005 - August 6, 2005. |
入库方式: OAI收割
来源:自动化研究所
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