Virtual target tracking of mobile robot and its application to formation control

被引：0
|
作者：
Young-Ho Lee
Shin-Guk Kim
Tae-Yong Kuc
Jong-Koo Park
Sang-Hoon Ji
Yong-Seon Moon
Young-Jo Cho
机构：
[1] Sungkyunkwan University,School of Electrical and Electronics Engineering
[2] KIST,Interaction and Robotics Research Center
[3] KITECH,Robot Convergence Research Center
[4] Sunchon National University,Department of Electrical Engineering
[5] ETRI,Intelligent Robot Research Division
来源：
International Journal of Control, Automation and Systems | 2014年 / 12卷
关键词：
Formation control; kinematic control; multiple mobile robots; target tracking; virtual target;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A virtual target tracking approach is proposed for kinematic control of mobile robot. In the controller, linear and angular velocity inputs are generated by using the local data of robot position and orientation along with the estimated velocity of target object. Applying the proposed approach to a cooperative robot group with arbitrary number of multiple mobile robots, it is possible to create various robot formations for cooperative navigation and tracking of moving object. The developed controller is shown to be stable and convergent through theoretical proof and a series of experiments.
引用
收藏
页码：390 / 398
页数：8
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