A Relative Measurement based Leader-follower Formation Control of Mobile Robots

Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Maltsev, A. A. Nesterov, M. A. Sobolev, M. N. Filippov

Abstract

This paper deals with leader-follower formations of nonholonomic mobile robots and introduces a new nonlinear control method for the robot motion in formation. Proposed approach enables to track the target position and is based on using a forced movement along the desired trajectory in the state space. Moreover, this approach requires only relative and local motion sensors data. Simulation results have demonstrated the effectiviness and robustness of the proposed control shemes.

References

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Paper Citation


in Harvard Style

Zolotukhin Y., Kotov K., Maltsev A., Nesterov A., Sobolev M. and Filippov M. (2015). A Relative Measurement based Leader-follower Formation Control of Mobile Robots . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 310-313. DOI: 10.5220/0005543103100313


in Bibtex Style

@conference{icinco15,
author={Yu. N. Zolotukhin and K. Yu. Kotov and A. S. Maltsev and A. A. Nesterov and M. A. Sobolev and M. N. Filippov},
title={A Relative Measurement based Leader-follower Formation Control of Mobile Robots},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={310-313},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005543103100313},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A Relative Measurement based Leader-follower Formation Control of Mobile Robots
SN - 978-989-758-123-6
AU - Zolotukhin Y.
AU - Kotov K.
AU - Maltsev A.
AU - Nesterov A.
AU - Sobolev M.
AU - Filippov M.
PY - 2015
SP - 310
EP - 313
DO - 10.5220/0005543103100313