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Paper FrC13.1

Wu, Jian Xin (Institute of Systems Science,Chinese Academy of Sciences), Jiang, Zhe ( Institute of Systems Science, Chinese Academy of Science)

On the Switching Control of Multiple Mobile Robots Formation

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - III" (FrC13), Friday, May 15, 2009, 13:30−13:50, Room: 505

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Distributed Robot Systems, Nonholonomic Mechanisms and Systems, Kinematics

Abstract

This paper considers the formation control of multiple skid-steered mobile robots with nonholonomic constraint in each robot dynamics. We propose a switching control method based on local sensor-based information for the group of robots. If the distance between leader and follower robots is larger than the switching threshold, a nonlinear control law is employed to make the followers move effectively toward the leader robot. Otherwise, method of finite-time control based on feedback linearization is used in order to quickly stabilize the relative distance and orientation of the follower robots. Both stability analysis and simulations are provided. We also verify the proposed switching method on the control of Pioneer 3-AT mobile robots.

 

 

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