Formation Control of Unicycle Mobile Robots: a Virtual Structure Approach

被引：54
|
作者：
van den Broek, Thijs H. A. [1 ]
van de Wouw, Nathan [2 ]
Nijmeijer, Henk [2 ]
机构：
[1] TNO, Helmond, Netherlands
[2] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands
来源：
PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009) | 2009年
关键词：
FEEDBACK;
D O I：
10.1109/CDC.2009.5399803
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, the formation control problem for unicycle mobile robots is studied. A virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness with respect to perturbations as compared to typical leader-follower approaches. The applicability of the proposed approach is shown in experiments with a group of mobile robots controlled over a wireless communication network.
引用
收藏
页码：8328 / 8333
页数：6
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