中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
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; Wang, Lon; Shao, Jinyan
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
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

浏览0
下载0
收藏0
其他版本

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。