Name
Title | ||
|---|---|---|
Leader–follower formation control of nonholonomic mobile robots with input constraints |
Abstract | ||
|---|---|---|
The paper deals with leader–follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots’ control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible positions of the follower with respect to the leader. A peculiar characteristic of the proposed strategy is that the follower position is not rigidly fixed with respect to the leader but varies in proper circle arcs centered in the leader reference frame. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1016/j.automatica.2007.09.019 | Automatica |
Keywords | Field | DocType |
Formations control,Autonomous mobile robots,Input constraints,Geometric approach,Stabilization | Reference frame,Leader follower,Control theory,Control engineering,Artificial intelligence,Nonholonomic mobile robot,Autonomous system (mathematics),Robot,Robotics,Mathematics,restrict | Journal |
Volume | Issue | ISSN |
44 | 5 | 0005-1098 |
Citations | PageRank | References |
73 | 3.58 | 12 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Luca Consolini | 1 | 276 | 31.16 |
| Fabio Morbidi | 2 | 260 | 19.28 |
| Domenico Prattichizzo | 3 | 2079 | 177.15 |
| Mario Tosques | 4 | 205 | 16.95 |