TY - GEN
T1 - Formation path following control of unicycle-type mobile robots
AU - Ghommam, Jawhar
AU - Saad, Maarouf
AU - Mnif, Faïçal
PY - 2008
Y1 - 2008
N2 - This paper presents a control strategy for coordination of multiple mobile robots. A combination of the virtual structure and path following approaches is used to derive the formation architecture. The formation controller is proposed for the kinematic model of two-degrees of freedom unicycle-type mobile robots. The approach is then extended to consider formation controller for its complete dynamic model. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robot's motion. Simulation results with three robots, are included to show the performance of our control system.
AB - This paper presents a control strategy for coordination of multiple mobile robots. A combination of the virtual structure and path following approaches is used to derive the formation architecture. The formation controller is proposed for the kinematic model of two-degrees of freedom unicycle-type mobile robots. The approach is then extended to consider formation controller for its complete dynamic model. The controller is designed in such a way that the path derivative is left as a free input to synchronize the robot's motion. Simulation results with three robots, are included to show the performance of our control system.
UR - http://www.scopus.com/inward/record.url?scp=51649084361&partnerID=8YFLogxK
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U2 - 10.1109/ROBOT.2008.4543495
DO - 10.1109/ROBOT.2008.4543495
M3 - Conference contribution
AN - SCOPUS:51649084361
SN - 9781424416479
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1966
EP - 1972
BT - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
T2 - 2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Y2 - 19 May 2008 through 23 May 2008
ER -