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Formation Control of Nonholonomic Mobile Robots Using Graph Theoretical Methods

In: Cooperative Systems

Author

Listed:
  • Wenjie Dong

    (University of Central Florida)

  • Yi Guo

    (Stevens Institute of Technology)

Abstract

Summary In this chapter, formation control of mobile robots with nonlinear models is considered. Two controllers are proposed with the aid of the dynamic feedback linearization technique, the time-scaling technique and properties of Laplacian matrix. The proposed controllers ensure the group of mobile robots to move in a desired formation. Existing results in formation control using graph theoretical methods are extended to nonlinear systems of high dimensions. Simulation results show the effectiveness of the proposed controllers.

Suggested Citation

  • Wenjie Dong & Yi Guo, 2007. "Formation Control of Nonholonomic Mobile Robots Using Graph Theoretical Methods," Lecture Notes in Economics and Mathematical Systems, in: Don Grundel & Robert Murphey & Panos Pardalos & Oleg Prokopyev (ed.), Cooperative Systems, pages 369-386, Springer.
    • Handle: RePEc:spr:lnechp:978-3-540-48271-0_22
    DOI: 10.1007/978-3-540-48271-0_22
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