Leader-follower formation control of nonholonomic mobile robots

Anthony Alfaro, Antonio Moran

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8 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2020 IEEE ANDESCON, ANDESCON 2020
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781728193656
DOI
EstadoPublicada - 13 oct. 2020
Evento2020 IEEE ANDESCON, ANDESCON 2020 - Quito, Ecuador
Duración: 13 oct. 202016 oct. 2020

Serie de la publicación

Nombre2020 IEEE ANDESCON, ANDESCON 2020

Conferencia

Conferencia2020 IEEE ANDESCON, ANDESCON 2020
País/TerritorioEcuador
CiudadQuito
Período13/10/2016/10/20

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