Abstract
This paper presents a new control method for generating formations of groups of nonholonomic mobile robots with two independently driven wheels. This control method is derived through a modification of the formation vector control previously presented by the authors. This paper also confirms that the control method is capable of generating formations much faster than ever by demonstrating an enclosing behavior in which the multiple mobile robots generate an arc-shaped formation around a target on a recently developed experimental platform. It controls the mobile robots via a Bluetooth wireless network, incorporating visual feedback with a fixed camera to measure the positions and orientations of the robots and the target.
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.
