Modeling and Controller Design for Multiple Mobile Robots Formation Control
Xiaohai Li; Jizhong Xiao; Jindong Tan
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Volume , Issue , 22-26 Aug. 2004 Page(s):838 - 843
Digital Object Identifier   10.1109/ROBIO.2004.1521893
Summary:This paper investigates the leader following based formation control of multiple nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates rather than the commonly used polar coordinates. The advantage of this model leads to the derivation of a controller free of possible singularity points that happen when using polar coordinate representation. Based on this new model and input-output linearization approach, a stable controller is derived. Simulation results are included to demonstrate the feasibility of the presented model and controller

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