Tracking Control of Multiple-Wheeled Mobile Robots With Limited Information of a Desired Trajectory

Tracking Control of Multiple-Wheeled Mobile Robots With Limited Information of a Desired Trajectory

This paper considers the tracking control problem for a group of nonholonomic wheeled mobile robots with limited information of a desired trajectory. With the aid of communications between systems, distributed control laws are proposed such that the state of each mobile robot asymptotically tracks t...

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Veröffentlicht in:IEEE transactions on robotics 2012-02, Vol.28 (1), p.262-268
1. Verfasser: Dong, Wenjie
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Autonomous agents
Computer science
control theory
systems
Control theory. Systems
distributed robot systems
Eigenvalues and eigenfunctions
Exact sciences and technology
kinematics
Linear systems
Mobile robots
Motion control
networked robots
Robot kinematics
Robotics
Robots
Simulation
Symmetric matrices
Tracking control systems
Trajectory
wheeled robots
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Beschreibung
Zusammenfassung:This paper considers the tracking control problem for a group of nonholonomic wheeled mobile robots with limited information of a desired trajectory. With the aid of communications between systems, distributed control laws are proposed such that the state of each mobile robot asymptotically tracks the desired trajectory. To show the effectiveness of the proposed approach, simulation results are presented.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2011.2166436