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Tracking Control of Multiple-Wheeled Mobile Robots With Limited Information of a Desired Trajectory

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1 Author(s)
Wenjie Dong ; Dept. of Electr. Eng., Univ. of Texas-Pan American, Edinburg, TX, USA

This paper considers the tracking control problem for a group of nonholonomic wheeled mobile robots with limited information of a desired trajectory. With the aid of communications between systems, distributed control laws are proposed such that the state of each mobile robot asymptotically tracks the desired trajectory. To show the effectiveness of the proposed approach, simulation results are presented.

Published in:

IEEE Transactions on Robotics  (Volume:28 ,  Issue: 1 )