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

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

doi:10.1109/TAC.2015.2504547

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

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

University of Groningen

Onderzoeksoutput: Article › Academic › peer review

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

Originele taal-2	English
Artikelnummer	9
Pagina's (van-tot)	2702-2707
Aantal pagina's	6
Tijdschrift	IEEE-Transactions on Automatic Control
Volume	61
Nummer van het tijdschrift	9
DOI's	https://doi.org/10.1109/TAC.2015.2504547
Status	Published - 1 sep. 2016
Extern gepubliceerd	Ja

Keywords

dekking
gedecentraliseerde controle
hamiltoniaanse systemen
robotbesturing
snelheidsregeling

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10.1109/TAC.2015.2504547

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abstract = "This technical note presents an integrated approach for formation control and velocity tracking of a group of non-holonomic 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.",

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

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Keywords

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