Decentralized Control of Mobile Robots in Formation

被引:0
|
作者
Zolotukhin, Yu. N. [1 ]
Kotov, K. Yu. [1 ]
Nesterov, A. A. [1 ]
机构
[1] Russian Acad Sci, Inst Automat & Electrometry, Siberian Branch, Novosibirsk, Russia
关键词
D O I
10.3103/S8756699007030028
中图分类号
O4 [物理学];
学科分类号
0702 ;
摘要
A control scheme for mobile robot formation in the leader following mode is proposed. It enables to track the target and is based on using a sliding mode along the desired trajectory in the state space. Results of modeling using MATLAB/SIMULINK environment are presented. They confirm efficiency of the proposed algorithm.
引用
收藏
页码:218 / 225
页数:8
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