A simple formation-tracking controller of mobile robots based on a "spanning-tree" communication

Creative Commons License

Daşdemir J., Loria A.

51st IEEE Annual Conference on Decision and Control (CDC), Hawaii, Amerika Birleşik Devletleri, 10 - 13 Aralık 2012, ss.1796-1801 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/cdc.2012.6426173
  • Basıldığı Şehir: Hawaii
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.1796-1801
  • Yıldız Teknik Üniversitesi Adresli: Evet

Özet

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.