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Authors: Razvan Solea ; Daniela Cernega ; Adrian Filipescu and Adriana Serbencu

Affiliation: “Dunarea de Jos” University of Galati, Romania

Keyword(s): Formation control, Sliding-mode control, Skid-steering mobile robot.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

Abstract: This paper addresses the control of a team of nonholonomic mobile robots. Indeed, the most work, in this domain, have studied extensively classical control for keeping a formation of mobile robots. In this work, the leader mobile robot is controlled to follow an arbitrary reference path, and the follower mobile robot use the sliding-mode controller to keep constant relative distance and constant angle to the leader robot. The efficiency and simplicity of this control laws has been proved by simulation on different situations.

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Paper citation in several formats:
Solea, R.; Cernega, D.; Filipescu, A. and Serbencu, A. (2010). FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 161-166. DOI: 10.5220/0002899501610166

@conference{icinco10,
author={Razvan Solea. and Daniela Cernega. and Adrian Filipescu. and Adriana Serbencu.},
title={FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={161-166},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002899501610166},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - FORMATION CONTROL OF MULTI-ROBOTS VIA SLIDING-MODE TECHNIQUE
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Solea, R.
AU - Cernega, D.
AU - Filipescu, A.
AU - Serbencu, A.
PY - 2010
SP - 161
EP - 166
DO - 10.5220/0002899501610166
PB - SciTePress

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