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Communication Dans Un Congrès Année : 2012

A simple one-to-one communication algorithm for formation-tracking control of mobile robots

Résumé

We solve the formation-tracking control problem for mobile robots via linear control. As in the classical tracking control problem for two nonholonomic systems, the swarm is driven by a fictitious robot which moves about freely. Only one "leader" robot communicates with the reference vehicle and in turn, acts as a leader to a second robot hence forming a fixed spanning tree. We show that a simple condition on the reference angular velocity (persistency of excitation) suffices to achieve consensus tracking.
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Dates et versions

hal-00831378 , version 1 (06-06-2013)

Identifiants

Citer

Janset Dasdemir, Antonio Loria. A simple one-to-one communication algorithm for formation-tracking control of mobile robots. Decision and Control (CDC), 2012 IEEE 51st Annual Conference on, Dec 2012, United States. pp.1796-1801, ⟨10.1109/CDC.2012.6426173⟩. ⟨hal-00831378⟩
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