FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP

Acta Polytechnica

Ahmed Rahmani¹  Youwei Dong¹ 

[1] Ecole Centrale de Lille, Cité Scientifique - CS20048, 59651 Villeneuve d’Ascq Cedex, France

关键词: formation control;    multi-robot system;    unicycle-type robot;    Lie group;    Lie algebra;   

DOI  :  

来源: Czech Technical University in Prague, Faculty of M

【 摘 要 】

In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.

【 授权许可】

Unknown