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Virtual-Head Robot Tracking and Three-Point l-l Control for Multiple Mobile Robots

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3 Author(s)
Nguyen, A.D. ; Centre for Autonomous Syst., Technol. Univ., Sydney, NSW ; Ha, Q.P. ; Nguyen, H.T.

In the context of robotic formation control, the commonly-used virtual robot tracking combined with l-l control has limitations in the establishment of a line formation, the possibility of collision between robots, and the singularity cases involved. This paper presents a new approach called the virtual-head robot tracking and three-point l-l control incorporated with a reactive control scheme. The proposed approach, tested through extensive simulations, can demonstrate line formations of a group of mobile robots with singularities alleviated and inter-robot collision completely avoided

Published in:

Distributed Intelligent Systems: Collective Intelligence and Its Applications, 2006. DIS 2006. IEEE Workshop on

Date of Conference:

15-16 June 2006

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