文章基本信息

标题：A Stable Formation Control Using Approximation of Translational and Angular Accelerations
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作者：Viet-Hong Tran ; Suk-Gyu Lee
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2011
卷号：8
DOI：10.5772/10530
语种：English
出版社：SAGE Publications
摘要：In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders’ translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams.
关键词：formation control; leader-following control; swarm robotics; stability; nonlinear