Formation path following control of unicycle-type mobile robots

Jawhar Ghommam, Hasan Mehrjerdi, Maarouf Saad, Faiçal Mnif

Research output: Contribution to journalArticle

100 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)727-736
Number of pages10
JournalRobotics and Autonomous Systems
Volume58
Issue number5
DOIs
Publication statusPublished - May 31 2010

Fingerprint

Path Following
Mobile Robot
Mobile robots
Robot
Robots
Controller
Controllers
Multi-robot
Kinematic Model
Control Strategy
Degrees of freedom (mechanics)
Degree of freedom
Control System
Derivative
Path
Kinematics
Motion
Derivatives
Control systems
Simulation

Keywords

  • Adaptive control
  • Formation control
  • Nonholonomic robot
  • Path following
  • Virtual structure

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics(all)
  • Computer Science Applications

Cite this

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

In: Robotics and Autonomous Systems, Vol. 58, No. 5, 31.05.2010, p. 727-736.

Research output: Contribution to journalArticle

Ghommam, Jawhar ; Mehrjerdi, Hasan ; Saad, Maarouf ; Mnif, Faiçal. / Formation path following control of unicycle-type mobile robots. In: Robotics and Autonomous Systems. 2010 ; Vol. 58, No. 5. pp. 727-736.
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