A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

A.D. Sadowska, T.H.A. van den Broek, H.J.C. Huijberts, N. Wouw, van de, D. Kostic, H. Nijmeijer

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74 Citations (Scopus)
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Abstract

In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader–follower approaches. The applicability of the proposed approach is shown in simulations and experiments with a group of wirelessly controlled mobile robots.
Original languageEnglish
Pages (from-to)1886-1902
JournalInternational Journal of Control
Volume84
Issue number11
DOIs
Publication statusPublished - 2011

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