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	A tracking controller for motion coordination of multiple mobile robots
	Shao, Jinyan ; Xie, Guangming ; Yu, Junzhi ; Wang, Long
	2005
DOI	10.1109/IROS.2005.1545164
英文摘要	This paper presents a new method for controlling a group of nonholonomic mobile robots to achieve predetermined formations without using global knowledge. Based on the dynamic leader-follower model, a reactive tracking controller is proposed to make each following robot maintain a desired pose to its leader, and the stability property of this controller is discussed using Lyapunov theory. By employing such controllers, the N-robot formation control problem can be decomposed into decentralized tracking problems between N-1 followers and designated leaders. Additionally, graph theory is introduced to formalize general formation patterns in a simple but effective way and two types of switching between these formations are also proposed. Numerical simulations and physical robots experiments show the effectiveness of our approach. ? 2005 IEEE.; EI; 1
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/328380]
专题	工学院
推荐引用方式 GB/T 7714	Shao, Jinyan,Xie, Guangming,Yu, Junzhi,et al. A tracking controller for motion coordination of multiple mobile robots[C]. 见:.

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