TY - GEN
T1 - Formation Control of Autonomous Robots using Nonlinear Control
AU - Alfaro, Anthony
AU - Moran, Antonio
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/4/23
Y1 - 2021/4/23
N2 - This paper presents the modeling, initialization, and control of Ackerman robots in formation, following the desired trajectory using the leader-follower scheme. Ackerman's model of a four-wheel mobile robot is taken as the base for our formation model using sets of differential equations. By using Linear Approximation and I/O Linearization, we obtain two types of decentralized controllers for each robot. Using the distance and the visibility angle between leaders and followers, we determine each robot's behaviors in the formation. The stability analysis, noise, and perturbations performances of each proposed control system is included along with computer simulations.
AB - This paper presents the modeling, initialization, and control of Ackerman robots in formation, following the desired trajectory using the leader-follower scheme. Ackerman's model of a four-wheel mobile robot is taken as the base for our formation model using sets of differential equations. By using Linear Approximation and I/O Linearization, we obtain two types of decentralized controllers for each robot. Using the distance and the visibility angle between leaders and followers, we determine each robot's behaviors in the formation. The stability analysis, noise, and perturbations performances of each proposed control system is included along with computer simulations.
KW - decentralized control
KW - feedback linearization
KW - Leader-Follower formation control
KW - mobile robot
UR - http://www.scopus.com/inward/record.url?scp=85114490686&partnerID=8YFLogxK
U2 - 10.1109/ICCAR52225.2021.9463483
DO - 10.1109/ICCAR52225.2021.9463483
M3 - Conference contribution
AN - SCOPUS:85114490686
T3 - 2021 7th International Conference on Control, Automation and Robotics, ICCAR 2021
SP - 141
EP - 145
BT - 2021 7th International Conference on Control, Automation and Robotics, ICCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Control, Automation and Robotics, ICCAR 2021
Y2 - 23 April 2021 through 26 April 2021
ER -