Title
Formation Control Of Nonholonomic Mobile Robots Using Graph Theoretical Methods
Abstract
In this chapter, formation control of mobile robots with nonlinear models is considered. Two controllers are proposed with the aid of the dynamic feedback linearization technique, the time-scaling technique and properties of Laplacian matrix. The proposed controllers ensure the group of mobile robots to move in a desired formation. Existing results in formation control using graph theoretical methods are extended to nonlinear systems of high dimensions. Simulation results show the effectiveness of the proposed controllers. © 2007 Springer-Verlag Berlin Heidelberg.
Publication Date
12-1-2007
Publication Title
Lecture Notes in Economics and Mathematical Systems
Volume
588
Number of Pages
369-386
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1007/978-3-540-48271-0_22
Copyright Status
Unknown
Socpus ID
53749096210 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/53749096210
STARS Citation
Dong, Wenjie and Guo, Yi, "Formation Control Of Nonholonomic Mobile Robots Using Graph Theoretical Methods" (2007). Scopus Export 2000s. 6057.
https://stars.library.ucf.edu/scopus2000/6057