Centralized formation control of non-holonomic mobile robots

R. Carelli, C. De La Cruz, F. Roberti

Producción científica: Contribución a una revistaArtículorevisión exhaustiva

23 Citas (Scopus)

Resumen

This work presents a control algorithm for a group of non-holonomic mobile robots that must attain coordinately a specific formation, which can be fixed or moving in the work space. The control error is defined in terms of location, size and shape of the constellation of points placed by the robots and the constellation of objective points. The stability analysis of the proposed control system is included along with the results from simulation and laboratory experiencies which validate the good performance of this robot formation control system.

Idioma originalInglés
Páginas (desde-hasta)63-69
Número de páginas7
PublicaciónLatin American Applied Research
Volumen36
N.º2
EstadoPublicada - abr. 2006
Publicado de forma externa

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