Adaptive Fuzzy Formation Control for a Nonholonomic Robotic Swarm

被引：0
|
作者：
Shabaninia, Faridoon [1 ]
Abbasi, Seyed Hamid Reza [1 ]
机构：
[1] Shiraz Univ, Sch Elect & Comp Engn, Shiraz, Iran
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON INFORMATION REUSE AND INTEGRATION (IRI) | 2011年
关键词：
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：
In this paper, artificial potential functions are used to design the formation control input for kinematic model of the robots and matrix manipulations are used to transform non-holonomic model of a differentially driven vehicle into equivalent holonomic one. The advantages of the proposed controller can be listed as robustness to input nonlinearity, external disturbances, model uncertainties and measurement noises. Simulation results are demonstrated for a swarm formation problem of a group of six unicycles, illustrating the effective attenuation of approximation error.
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页码：482 / 483
页数：2
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