Formation path following control of unicycle-type mobile robots

Jawhar Ghommam, Maarouf Saad, Faïçal Mnif

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Robotics and Automation, ICRA 2008
Pages1966-1972
Number of pages7
DOIs
Publication statusPublished - 2008
Event2008 IEEE International Conference on Robotics and Automation, ICRA 2008 - Pasadena, CA, United States
Duration: May 19 2008May 23 2008

Other

Other2008 IEEE International Conference on Robotics and Automation, ICRA 2008
CountryUnited States
CityPasadena, CA
Period5/19/085/23/08

Fingerprint

Mobile robots
Controllers
Robots
Degrees of freedom (mechanics)
Dynamic models
Kinematics
Derivatives
Control systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Ghommam, J., Saad, M., & Mnif, F. (2008). Formation path following control of unicycle-type mobile robots. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008 (pp. 1966-1972). [4543495] https://doi.org/10.1109/ROBOT.2008.4543495

Formation path following control of unicycle-type mobile robots. / Ghommam, Jawhar; Saad, Maarouf; Mnif, Faïçal.

2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 1966-1972 4543495.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ghommam, J, Saad, M & Mnif, F 2008, Formation path following control of unicycle-type mobile robots. in 2008 IEEE International Conference on Robotics and Automation, ICRA 2008., 4543495, pp. 1966-1972, 2008 IEEE International Conference on Robotics and Automation, ICRA 2008, Pasadena, CA, United States, 5/19/08. https://doi.org/10.1109/ROBOT.2008.4543495
Ghommam J, Saad M, Mnif F. Formation path following control of unicycle-type mobile robots. In 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. p. 1966-1972. 4543495 https://doi.org/10.1109/ROBOT.2008.4543495
Ghommam, Jawhar ; Saad, Maarouf ; Mnif, Faïçal. / Formation path following control of unicycle-type mobile robots. 2008 IEEE International Conference on Robotics and Automation, ICRA 2008. 2008. pp. 1966-1972
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