Autors: Petrov, P. P., Kralov, I. M.
Title: Modelling and Feedback Control for Reversing a Nonholonomic Mobile Robot Platoon
Keywords: mobile robot, reverse platooning, mathematical model

Abstract: This paper addresses the control problem of a platoon of nonholonomic mobile robots in the case of backward motion of the leading robot. By using a virtual non-static with respect to the lead robot reference frame as a target, a kinematic model of the robot platoon in error coordinates is developed. A nonlinear feedback controller based on the entire platoon model is designed by means of high-gain control. Asymptotic stability property of the closed-loop system is established using Lyapunov theory. For backward motion of the leading robot along a circular path, at steady-state, the two-robot platoon should travel concentric arcs of same radii with prescribed inter-robot spacing. The performance of the proposed tracking controller is illustrated through numerical simulations.

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Issue

C. R. Acad. Bulg. Sci., vol. 9, issue 76, pp. 1402-1412, 2023, Bulgaria, omptes Rendus de L'Academie Bulgare des Sciences, DOI:10.7546/CRABS.2023.09.11

Цитирания (Citation/s):
1. Castillo-Torres, JE, Trejo-Macotela, FR, Vidal-Cuevas, JE, Ruiz-Vanoye, JA, Márquez-Vera, MA, Barrera-Cámara, RA, Ruiz-Jaimes, MA, Toledo-Navarro, Y, Perception, Planning, and Control in Autonomous Parking: A Systematic Review from Bird's-Eye View Reconstruction to Manoeuvre Execution, APPLIED SCIENCES-BASEL, vol 16, 2026, eissn: 2076-3417, art_no: ARTN 8051, doi: 10.3390/app16168051 - 2026 - в издания, индексирани в Web of Science
2. Castillo-Torres J.E., Trejo-Macotela F.R., Vidal-Cuevas J.E., Ruiz-Vanoye J.A., Marquez-Vera M.A., Barrera-Camara R.A., Ruiz-Jaimes M.A., Toledo-Navarro Y., Perception, Planning, and Control in Autonomous Parking: A Systematic Review from Bird’s-Eye View Reconstruction to Manoeuvre Execution, 2026, Applied Sciences Switzerland, issue 16, vol. 16, DOI 10.3390/app16168051, eissn 20763417 - 2026 - в издания, индексирани в Scopus

Вид: статия в списание, публикация в издание с импакт фактор, публикация в реферирано издание, индексирана в Scopus и Web of Science