Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled RobotsVos, E., van der Schaft, A. J. & Scherpen, J. M. A., Sep-2016, In : IEEE Transactions on Automatic Control. 61, 9, p. 2702-2707 6 p.
Research output: Contribution to journal › Article › Academic › peer-review
This technical note presents an integrated approach for formation control and velocity tracking of a group of non-holonomic wheeled robots. The solution is defined within the port-Hamiltonian framework, providing a clear interpretation of the results. The controller consists of a local nonlinear heading and velocity tracking controller combined with a distributed formation controller. The formation controller achieves formations by assigning virtual couplings in between the robots. Experimental results are provided to illustrate the effectiveness of the approach.
|Number of pages||6|
|Journal||IEEE Transactions on Automatic Control|
|Publication status||Published - Sep-2016|
- Decentralized control, robot control, velocity control, HAMILTONIAN-SYSTEMS, COVERAGE