Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory

Zhaoxia Peng, Guoguang Wen, Ahmed Rahmani and Yongguang Yu

International Journal of Systems Science, 2015, vol. 46, issue 8, 1447-1457

Abstract: In this paper, the distributed formation control problem for multiple nonholonomic mobile robots using consensus-based approach is considered. A transformation is given to convert the formation control problem for multiple nonholonomic mobile robots into a state consensus problem. Distributed control laws are developed for achieving the formation control objectives: a group of nonholonomic mobile robots at least exponentially converge to a desired geometric pattern with its centroid moving along the specified reference trajectory. Rigorous proofs are provided by using graph, matrix , and Lyapunov theories. Simulations are also given to verify the effectiveness of the theoretical results.

Date: 2015
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Citations: View citations in EconPapers (2)

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DOI: 10.1080/00207721.2013.822609

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