Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Authors

Ewoud Vos, Arjan J. van der Schaft, Jacquelien M. A. Scherpen

Abstract

This technical note presents an integrated approach for formation control and velocity tracking of a group of nonholonomic 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.

Citation

• Journal: IEEE Transactions on Automatic Control
• Year: 2016
• Volume: 61
• Issue: 9
• Pages: 2702–2707
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tac.2015.2504547

BibTeX

@article{Vos_2016,
  title={{Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots}},
  volume={61},
  ISSN={2334-3303},
  DOI={10.1109/tac.2015.2504547},
  number={9},
  journal={IEEE Transactions on Automatic Control},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Vos, Ewoud and van der Schaft, Arjan J. and Scherpen, Jacquelien M. A.},
  year={2016},
  pages={2702--2707}
}

Download the bib file

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