Abstract
This paper proposes a leader-following formation control strategy for a group of mobile robots. The nonholonomic constraints of the mobile robots, instead of the usual point-mass assumption, are taken into account in the design of the formation control. The proposed formation control computes desired driving force and steering torque, instead of desired translational and angular velocities, for each robot. The proposed control consists of a formation control scheme and a kinematic trajectory generation scheme for the leader of a group. In the design of the proposed control schemes, the Lyapunov stability theorem is used as a mathematical tool. The leader follows its desired trajectory while the rest of robots are following the leader in a specified formation. Under certain conditions, the proposed formation control guarantees asymptotic stability while keeping all internal signals bounded. The effectiveness of the proposed control has been shown with realistic computer simulations.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
