Publication

Tunable formation realization for nonholonomic mobile robots using the stress matrix

Yang, Q., Fang, H., Cao, M., Shang, C. & Wei, Y., 2019, Proceedings of the 38th Chinese Control Conference 2019 . IEEE, 6 p.

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DOI

  • Qingkai Yang
  • Hao Fang
  • Ming Cao
  • Chengsi Shang
  • Yue Wei
In this paper, we investigate the formation control problem for a team of nonholonomic mobile robots, in which the overall formation shape needs to be adapted to the change in its surroundings. To cope with the limited accessibility to the desired formation pattern, as well as the inherent nonholonomic constraints, we propose a distributed controller by invoking the stress-matrix-based technique, which gives extra freedom in controlling formations. Theoretical analysis is provided in the context of Lyapunov stability to show that tunable formations can be achieved using our proposed control strategy. Besides, it is also proved that collision avoidance can be ensured in the process of formation deformation. Simulations are carried out to validate the theoretical results.
Original languageEnglish
Title of host publicationProceedings of the 38th Chinese Control Conference 2019
PublisherIEEE
Number of pages6
ISBN (Electronic)978-9-8815-6397-2
ISBN (Print)978-1-7281-2329-5
Publication statusPublished - 2019
EventThe 38th Chinese Control Conference 2019 (CCC2019) - Guangzhou, China
Duration: 27-Jul-201930-Jul-2019

Conference

ConferenceThe 38th Chinese Control Conference 2019 (CCC2019)
CountryChina
CityGuangzhou
Period27/07/201930/07/2019

Event

The 38th Chinese Control Conference 2019 (CCC2019)

27/07/201930/07/2019

Guangzhou, China

Event: Conference

ID: 109251122