Name
Title | ||
|---|---|---|
Formation control of multiple nonholonomic mobile robots via dynamic feedback linearization |
Abstract | ||
|---|---|---|
This paper proposes a novel formation control strategy for multiple nonholonomic mobile robots based on dynamic feedback linearization and supervisory control of discrete event systems. The proposed leader-follower formation strategy requires that all the robots navigate in an unstructured environment avoiding obstacles and following walls. In addition, the followers are also required to keep a predetermined geometric formation with the leader while relaxing some of the formation constraints in the face of obstacles. Considering the nonholonomic nature of the robots involved, we use nonlinear dynamic feedback linearization to develop a set of behavior based low-level controllers to achieve proper navigation of the system. And the higher-level discrete event system manages the dynamic interaction of the robots with the external environment. The use of discrete event systems reflects a modular manageable system with the potential for scalability and reusability. The proposed system is implemented through simulation and the results are shown to verify its operation. |
Year | Venue | Keywords |
|---|---|---|
2009 | ICAR | collision avoidance,discrete event systems,feedback,linearisation techniques,mobile robots,multi-robot systems,nonlinear control systems,dynamic feedback linearization,following walls,formation control,leader-follower formation strategy,multiple nonholonomic mobile robots,nonlinear dynamic feedback linearization,obstacle avoidance,supervisory control,discrete event systems (des),multi-robot formation,nonholonomic mobile robots,nonlinear control,control systems,nonlinear dynamics,management system,lead,navigation,environmental management,robot kinematics,scalability,feedback linearization |
Field | DocType | ISBN |
Control theory,Nonlinear control,Supervisory control,Feedback linearization,Robot kinematics,Control engineering,Control system,Engineering,Robot,Nonholonomic system,Mobile robot | Conference | 978-3-8396-0035-1 |
Citations | PageRank | References |
4 | 0.47 | 6 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Gamage, G.W. | 1 | 4 | 0.47 |
| Mann, G.K.I. | 2 | 139 | 13.77 |
| Raymond G. Gosine | 3 | 252 | 24.37 |