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Modeling and Controller Design for Multiple Mobile Robots Formation Control

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3 Author(s)
Xiaohai Li ; Dept. of Electr. Eng., New York City Univ., NY ; Jizhong Xiao ; Jindong Tan

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

Published in:

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Date of Conference:

22-26 Aug. 2004