Autors: Shakev, N. G., Topalov, A. V., Ahmed, S. A., Popov, V. L.
Title: A Stable Control Algorithm for Multi Robot Formation
Keywords: Mobile robots, Formation control, Trajectory tracking

Abstract: This paper presents the developed trajectory tracking controller for a formation of nonholonomic robots, which combines features from the leader-follower and virtual-structure approaches. The implemented decentralized control strategy allows the robots to be relatively independent and to switch easily between the executed individual tasks and the collective tasks. Convergence is thoroughly analyzed and guarantied using the Lyapunov approach.

References

    Issue

    IOP Conference Series: Materials Science and Engineering, 8th International Scientific Conference on Engineering, Technologies and Systems, TechSys 2019; Plovdiv; Bulgaria; 16 May 2019 through 18 May 2019, vol. 618, issue 1, pp. Article number 012008, 2019, United Kingdom, Institute of Physics Publishing, DOI 10.1088/1757-899X/618/1/012008

    Вид: публикация в национален форум с межд. уч., публикация в издание с импакт фактор, публикация в реферирано издание, индексирана в Scopus