String stability of a group of nonholonomic mobile robots whose models incorporate kinematic and dynamic equations of motion

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

2 Scopus citations

Abstract

The paper considers some control problems of multi mobile robot systems as both kinematics and dynamics are intertwined in the mathematical model of the group members. The effects of all components (wheels and platform) and kinematic constraints will be taken into account in the equations. The problems of driving the vehicle towards a desired string-like formation and the associated stability problem will be studied. Finally, demonstrations of a group of mobile robots with the augmented model will be presented.

Original languageEnglish
Title of host publicationProceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3062-3068
Number of pages7
ISBN (Electronic)9781509046560
DOIs
StatePublished - 12 Jul 2017
Event29th Chinese Control and Decision Conference, CCDC 2017 - Chongqing, China
Duration: 28 May 201730 May 2017

Publication series

NameProceedings of the 29th Chinese Control and Decision Conference, CCDC 2017

Conference

Conference29th Chinese Control and Decision Conference, CCDC 2017
Country/TerritoryChina
CityChongqing
Period28/05/1730/05/17

Keywords

  • Convoy
  • Group control
  • Kinematic & dynamic equations
  • Mobile robot
  • String stability
  • Trajectory tracking

ASJC Scopus subject areas

  • Decision Sciences (miscellaneous)
  • Control and Optimization

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