Leader-follower formation control of nonholonomic mobile robots

Anthony Alfaro; Antonio Moran

doi:10.1109/ANDESCON50619.2020.9272048

Leader-follower formation control of nonholonomic mobile robots

Anthony Alfaro, Antonio Moran

Sección de Electricidad y Electrónica

Pontifical Catholic Univ. of Peru

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

9 Scopus citations

Abstract

This paper presents the modeling, initialization, and control of nonholonomic mobile robots navigating with a leader-follower formation scheme, that must attain a planned formation. We use Ackerman's model of a four-wheel mobile robot, graph theory, I/O linearization, and linear approximation to control the dynamics of robot formation using sets of differential equations. These equations use the distance and the visibility angle between leaders and followers to determine how each robot will move. The stability analysis of the proposed control system is included along with computer simulations to validate the performance of the leader-follower formation.

Original language	English
Title of host publication	2020 IEEE ANDESCON, ANDESCON 2020
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728193656
DOIs	https://doi.org/10.1109/ANDESCON50619.2020.9272048
State	Published - 13 Oct 2020
Event	2020 IEEE ANDESCON, ANDESCON 2020 - Quito, Ecuador Duration: 13 Oct 2020 → 16 Oct 2020

Publication series

Name	2020 IEEE ANDESCON, ANDESCON 2020

Conference

Conference	2020 IEEE ANDESCON, ANDESCON 2020
Country/Territory	Ecuador
City	Quito
Period	13/10/20 → 16/10/20

Keywords

Decentralized control
Feedback linearization
Leader-Follower formation control
Mobile robot

Access to Document

10.1109/ANDESCON50619.2020.9272048

Cite this

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title = "Leader-follower formation control of nonholonomic mobile robots",

abstract = "This paper presents the modeling, initialization, and control of nonholonomic mobile robots navigating with a leader-follower formation scheme, that must attain a planned formation. We use Ackerman's model of a four-wheel mobile robot, graph theory, I/O linearization, and linear approximation to control the dynamics of robot formation using sets of differential equations. These equations use the distance and the visibility angle between leaders and followers to determine how each robot will move. The stability analysis of the proposed control system is included along with computer simulations to validate the performance of the leader-follower formation.",

keywords = "Decentralized control, Feedback linearization, Leader-Follower formation control, Mobile robot",

author = "Anthony Alfaro and Antonio Moran",

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AU - Moran, Antonio

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Y1 - 2020/10/13

N2 - This paper presents the modeling, initialization, and control of nonholonomic mobile robots navigating with a leader-follower formation scheme, that must attain a planned formation. We use Ackerman's model of a four-wheel mobile robot, graph theory, I/O linearization, and linear approximation to control the dynamics of robot formation using sets of differential equations. These equations use the distance and the visibility angle between leaders and followers to determine how each robot will move. The stability analysis of the proposed control system is included along with computer simulations to validate the performance of the leader-follower formation.

AB - This paper presents the modeling, initialization, and control of nonholonomic mobile robots navigating with a leader-follower formation scheme, that must attain a planned formation. We use Ackerman's model of a four-wheel mobile robot, graph theory, I/O linearization, and linear approximation to control the dynamics of robot formation using sets of differential equations. These equations use the distance and the visibility angle between leaders and followers to determine how each robot will move. The stability analysis of the proposed control system is included along with computer simulations to validate the performance of the leader-follower formation.

KW - Decentralized control

KW - Feedback linearization

KW - Leader-Follower formation control

KW - Mobile robot

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DO - 10.1109/ANDESCON50619.2020.9272048

M3 - Conference contribution

AN - SCOPUS:85098541317

T3 - 2020 IEEE ANDESCON, ANDESCON 2020

BT - 2020 IEEE ANDESCON, ANDESCON 2020

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2020 IEEE ANDESCON, ANDESCON 2020

Y2 - 13 October 2020 through 16 October 2020

ER -

Leader-follower formation control of nonholonomic mobile robots

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Keywords

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