Formation path following control of unicycle-type mobile robots

Jawhar Ghommam, Hasan Mehrjerdi, Maarouf Saad, Faiçal Mnif*

*المؤلف المقابل لهذا العمل

نتاج البحث: المساهمة في مجلةArticleمراجعة النظراء

138 الاقتباسات (SciVal)


This paper presents a control strategy for the coordination of multiple mobile robots. A combination of the virtual structure and path following approaches is used to derive the formation architecture. A formation controller is proposed for the kinematic model of two-degree-of-freedom unicycle-type mobile robots. The approach is then extended to consider the formation controller by taking into account the physical dimensions and dynamics of the robots. 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. Finally, the theoretical results are experimentally validated on a multi-robot platform.

اللغة الأصليةEnglish
الصفحات (من إلى)727-736
عدد الصفحات10
دوريةRobotics and Autonomous Systems
مستوى الصوت58
رقم الإصدار5
المعرِّفات الرقمية للأشياء
حالة النشرPublished - مايو 31 2010

ASJC Scopus subject areas

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