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Distributed Formation Control of Multiple Nonholonomic Mobile Robots

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2 Author(s)
Chen Yangyang ; Southeast Univ., Nanjing ; Tian Yuping

This paper deals with the distributed formation control problem of multiple nonholonomic mobile robots. By using smooth time-varying feedback control approach and graph theory, a distributed formation control law is designed, which can achieve formation of a system of multiple nonholonomic mobile robots. Based on potential function, a control law for obstacle collision avoidance is constructed. Simulation results prove the validity of the proposed control laws.

Published in:

Control Conference, 2007. CCC 2007. Chinese

Date of Conference:

July 26 2007-June 31 2007