Referenced Items are not available for this document.
In this paper, we propose a new nonlinear cooperative steering control to solve the formation control problem for multiple mobile robots with nonholonomic constraints. By using a new contraction mapping method, it is rigorously proved that the proposed cooperative formation control is asymptotically stabilizing under the condition that the sensing/communication network among robots is sequentially complete. Simulation results are included to illustrate the effectiveness of the proposed control.
Published in:
Sensor Array and Multichannel Signal Processing Workshop (SAM), 2012 IEEE 7th
Date of Conference: 17-20 June 2012
- Page(s):
- 389 - 392
- ISSN :
- 1551-2282
- Print ISBN:
- 978-1-4673-1070-3
- INSPEC Accession Number:
- 12906127
- Conference Location :
- Hoboken, NJ
- Digital Object Identifier :
- 10.1109/SAM.2012.6250519
- Product Type:
- Conference Publications
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