Control strategies for driving a group of nonholonomic kinematic mobile robots in formation along a time-parameterized path

Amit Ailon, Ilan Zohar

Research output: Contribution to journalArticlepeer-review

64 Scopus citations

Abstract

This paper proposes control schemes for a group of nonholonomic kinematic mobile robots for maintaining a desired formation along a time-parameterized path. The control approach is based in particular on the flatness property and the concept of virtual vehicles. The control objective is twofold: to maintain the formation structure during motion along a desired geometric path, and to follow a timing law that dominates the rate of advancement of the group and the arrival times to assigned sites. This paper suggests, in particular, control strategies for convoy-like vehicles and for rigid formations. The leading vehicle governs the overall group motion. However, each member of the group can independently split or merge and maneuver to avoid collision (assuming that the relevant data are available by communication/sensing means) during the group motion.

Original languageEnglish
Article number5709984
Pages (from-to)326-336
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume17
Issue number2
DOIs
StatePublished - 1 Apr 2012

Keywords

  • Convoy-like vehicles
  • flatness
  • mobile robot
  • nonholonomic constraints
  • rigid formation
  • time-parameterized path
  • tracking controller
  • virtual vehicle

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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