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Distributed Formation Control for a Group of Multiple Nonholonomic Mobile Robots

DAI ChimingLIU LixiaMIAO ZhonghuaZHOU Jin

Shanghai Institute of Applied Mathematics and Mechanics, Shanghai UniversitySchool of Mechatronic Engineering and Automation, Shanghai University

摘要:This brief is concerned with the distributed cooperative formation control for a group of multi-nonholonomic mobile robots from the view of multi-agent systems. A simple yet general model of multi-nonholonomic mobile robot is first introduced,and a distributed formation controller is then proposed for multi-nonholonomic mobile robots(MNMRs) by systematically integrating a kinematic controller and a torque controller. A distinctive feature of the developed distributed formation strategy is to introduce the network topology characterizing communication interaction among robots, where a few robots of the group are only assumed to receive the information of the desired formation for MNMRs, and so it is particularly suitable to be implemented for a large number of robots in practice. Finally, simulation examples are presented to demonstrate the effectiveness of the proposed formation methodology.
会议名称:

第三十八届中国控制会议

会议时间:

2019-07-27

会议地点:

中国广东广州

  • 专辑:

    信息科技

  • 专题:

    自动化技术

  • 分类号:

    TP242

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