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Time-varying feedback control for nonholonomic mobile robots forming group formations

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2 Author(s)
Yamaguchi, H. ; Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA ; Burdick, J.W.

Presents an approach to control for multiple nonholonomic wheeled mobile robots of the Hilare-type to form group formations. To control the formation, each robot has its own coordinate system and it controls its relative positions to its neighboring robots. Particularly, it has a vector called a formation vector, and the formation is controllable by the vectors. Since the robots have nonholonomic constraints, it is not possible for them to directly move in omni-directions, which means that such nonholonomic vehicles cannot be asymptotically stabilized by smooth static-state feedback control laws. We introduce a smooth time-varying feedback control law whose asymptotic stability is guaranteed in a mathematical framework, averaging theory. The validity of this law is verified by computer simulations

Published in:

Decision and Control, 1998. Proceedings of the 37th IEEE Conference on  (Volume:4 )

Date of Conference:

16-18 Dec 1998