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Multiple nonholonomic mobile robots formation coordinated control in obstacles environment

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4 Author(s)
Xiu-juan Zheng ; Coll. of Inf. Sci. & Eng., Wuhan Univ. of Sci. & Technol., Wuhan, China ; Huai-yu Wu ; Cheng, Lei ; Yu-li Zhang

This paper addresses the formation coordinated control problem of nonholonomic mobile robots in obstacles environment. Based on each robot formation feedback between itself and its virtual structure and artificial potential field method, a decentralized controller is designed to maintain the formation to effectively track the target with desired velocities and avoid collisions. The formation control stability is proved with Lyapunov stability theory as well. Finally, the validity of the proposed formation controller is demonstrated with experiment simulation results in the case of six followers.

Published in:

Modelling, Identification and Control (ICMIC), Proceedings of 2011 International Conference on

Date of Conference:

26-29 June 2011