TY - GEN
T1 - Leader-follower formation control of nonholonomic mobile robots
AU - Alfaro, Anthony
AU - Moran, Antonio
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/10/13
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
UR - http://www.scopus.com/inward/record.url?scp=85098541317&partnerID=8YFLogxK
U2 - 10.1109/ANDESCON50619.2020.9272048
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 -