Hybrid formation control for non-holonomic wheeled mobile robots

被引：0
|
作者：
Toibero, Juan Marcos [1 ]
Roberti, Flavio [1 ]
Fiorini, Paolo [2 ]
Carelli, Ricardo [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat, San Juan, Argentina
[2] Univ Verona, Dept Comp Sci, I-37100 Verona, Italy
来源：
RECENT PROGRESS IN ROBOTICS: VIABLE ROBOTIC SERVICE TO HUMAN | 2008年 / 370卷
关键词：
non-holonomic wheeled mobile robots; formation control; lyapunov stability;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Experimental results on commercial unicycle-like mobile robots are provided to show the feasibility and performance of the proposed control strategy.
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页码：21 / +
页数：3
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