Title

Leaderless Cooperative Formation Control Of Autonomous Mobile Robots Under Limited Communication Range Constraints

Abstract

In this paper, a new leaderless cooperative formation control strategy is proposed for a group of autonomous mobile robots. Through the local state and input transformations, the formation control problem can be recast as the cooperative control design problem for a class of general canonical systems with arbitrary but finite relative degree. A set of less-restrictive sufficient conditions on group communication topology to ensure the success of cooperative control design has been established. The system stability is rigorously proved by studying the convergence of products of row stochastic matrices. The proposed design does not require either that collaborative robots have a fixed communication/control structure (such as leader/follower or nearest neighbor) or that their sensor/communication graph be strongly connected. Detailed simulation results are provided to illustrate the effectiveness of the proposed method. © 2007 Springer-Verlag Berlin Heidelberg.

Publication Date

12-1-2007

Publication Title

Lecture Notes in Economics and Mathematical Systems

Volume

588

Number of Pages

79-104

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/978-3-540-48271-0_6

Socpus ID

53749094792 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/53749094792

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