Observer-Based Leader-Following Formation Control for Multi-Robot With Obstacle Avoidance

This paper focuses on the observer-based leader-following formation tracking control for multi-robot with obstacle avoidance. First, based on the leader-follower formation control method, setting the trajectory of the leader robot, then the follower robots track the leader robot. Second, an observer...

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Veröffentlicht in:	IEEE access 2019, Vol.7, p.14791-14798
Hauptverfasser:	Wu, Xiru, Wang, Shanshan, Xing, Mengyuan
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Collision avoidance Control methods Controllers Education formation control Gain control Multi-robot Multi-robot systems Multiple robots observer-based Observers Obstacle avoidance Robot control Robots Tracking control Trajectory Trajectory control
Online-Zugang:	Volltext
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