A Leader-Follower Approach to Formation Control of Multiple Non-Holonomic Mobile Robots

被引：0
|
作者：
Petrinic, Toni [1 ]
Petrovic, Ivan [2 ]
机构：
[1] HEP ODS Doo, Elektroprimorje Rijeka, Drazica 10, Mali Losinj 51550, Croatia
[2] Univ Zagreb, Fac Elect & Comp Engn, Dept Control & Comp Engn, Zagreb 10000, Croatia
来源：
2013 36TH INTERNATIONAL CONVENTION ON INFORMATION AND COMMUNICATION TECHNOLOGY, ELECTRONICS AND MICROELECTRONICS (MIPRO) | 2013年
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D O I：
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中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Many cooperative tasks in real world environments need the robots to maintain some desired formations when moving. Formation control refers to the problem of controlling the relative position and orientation of robots in a group, while allowing the group to move as a whole. In this paper, a novel leader-follower formation control law for multiple non-holonomic mobile robots based on kinematic models and trajectory tracking techniques is proposed.
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页码：931 / 935
页数：5
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