Formation control of nonholonomic mobile robots using graph theoretical methods

Wenjie Dong, Yi Guo

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationCooperative Systems
Subtitle of host publicationControl and Optimization
EditorsDon Grundel, Panos Pardalos, Robert Murphey, Oleg Prokopyev
Pages369-386
Number of pages18
DOIs
StatePublished - 2007

Publication series

NameLecture Notes in Economics and Mathematical Systems
Volume588
ISSN (Print)0075-8442

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