Formations Control Based on Piecewise Smooth Dynamic Framework
This paper investigates cooperative control problems in formation of mobile robots under the nonholonomic constraints. A new method of motion control for formation is presented, which is based on piecewise smooth dynamic framework. It is attractive for its adaptability to the formation structure and desired trajectory. The quality of formation keeping can be evaluated by the instantaneous errors of formation offset and spacing distance. Some kinematics laws are developed to regulate and maintain the formation shape. Simulation results obtained using this approach are then provided.
Robot formation kinematics law formation keeping mobile robots
Yuqing Chen Shuanghe Yu Zi Ma
Automation Research Center Dalian Maritime University Dalian, Liaoning Province, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）