Leader follower based formation control strategies for nonholonomic mobile robots: Design, implementation and experimental validation

This paper proposes novel formation maintenance strategies for multiple nonholonomic mobile robots based on nonholonomic trajectory tracking techniques and dynamic feedback linearization. It also presents experimental results for formation stability and noise tolerance of the proposed and existing l...

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Bibliographische Detailangaben

Hauptverfasser:	Gamage, Gayan W, Mann, George K I, Gosine, Raymond G
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Control systems Design optimization Distributed parameter systems Feedback Mathematics Mobile robots multi-robot formation control nonholonomic mobile robots Observers Optimal control Sensor systems State estimation trajectory tracking
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