A Stable Formation Control Using Approximation of Translational and Angular Accelerations

International Journal of Advanced Robotic Systems

关键词: formation control;    leader-following control;    swarm robotics;    stability;    nonlinear;   

DOI  :  10.5772/10530

学科分类：自动化工程

来源: InTech

【 摘 要 】

In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams.

【 授权许可】

CC BY