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Backstepping based multiple mobile robots formation control

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3 Author(s)
Xiaohai Li ; Dept. of Electr. Eng., City Univ. of New York, NY, USA ; Jizong Xiao ; Zijun Cai

In this paper, we investigate 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 in literature. Based on this new model and the idea of integrator backstepping, a globally stable controller is derived for the whole system. Simulation results are included to verify the efficacy of the presented new model and controller.

Published in:

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Date of Conference:

2-6 Aug. 2005