Distributed formation control of multiple nonholonomic mobile robots

被引：0

作者：

Chen Yangyang ^{[1
]}

Tian Yuping ^{[1
]}

机构：

[1] Southeast Univ, Sch Automat Control, Nanjing 210096, Jiangsu, Peoples R China

来源：

PROCEEDINGS OF THE 26TH CHINESE CONTROL CONFERENCE, VOL 5 | 2007年

关键词：

multi-agent system; distributed formation control; nonholonomic mobile robots;

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 deals with the distributed formation control problem of multiple nonholonomic mobile robots. By using smooth time-varying feedback control approach and graph theory, a distributed formation control law is designed, which can achieve formation of a system of multiple nonholonomic mobile robots. Based on potential function, a control law for obstacle collision avoidance is constructed. Simulation results prove the validity of the proposed control laws.

引用

页码：278 / +

页数：2

共 10 条

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