Formation Control of Nonholonomic Mobile Robots Using Graph Theoretical Methods

Wenjie Dong and Yi Guo ()
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Wenjie Dong: University of Central Florida
Yi Guo: Stevens Institute of Technology

A chapter in Cooperative Systems, 2007, pp 369-386 from Springer

Abstract: Summary In this chapter, formation control of mobile robots with nonlinear models is considered. Two controllers are proposed with the aid of the dynamic feedback linearization technique, the time-scaling technique and properties of Laplacian matrix. The proposed controllers ensure the group of mobile robots to move in a desired formation. Existing results in formation control using graph theoretical methods are extended to nonlinear systems of high dimensions. Simulation results show the effectiveness of the proposed controllers.

Keywords: Mobile Robot; Communication Link; Formation Control; Laplacian Matrix; Communication Graph (search for similar items in EconPapers)
Date: 2007
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Persistent link: https://EconPapers.repec.org/RePEc:spr:lnechp:978-3-540-48271-0_22

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DOI: 10.1007/978-3-540-48271-0_22

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