By Topic

A leader-following formation control of multiple mobile robots with active obstacle avoidance

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Soorki, M.Naderi ; Amirkabir Univ. of Technol., Tehran, Iran ; Talebi, H.A. ; Nikravesh, S.K.Y.

This paper presents a new strategy in mobile robots leader-follower formation control. The key feature of the algorithm is incorporating leader-follower and leader-leader formation to make a novel formation named leader-leader-follower (l - l - φ). The feedback linearization method is used to exponentially stabilize the relative distance and orientation of the follower with respect to the leaders. The formation controller is designed for both first order and second order kinematic models of the robots. On the other hand a stability condition for the zero dynamics of leader-follower robot formation system is derived through constraining the motion of the leader robot and the formation configuration. Furthermore, accelerated obstacle avoidance is presented by considering obstacle as a virtual leader in our proposed model. Simulation results are presented to show the validity of the proposed methodology.

Published in:

Electrical Engineering (ICEE), 2011 19th Iranian Conference on

Date of Conference:

17-19 May 2011