최소 자승법을 사용한 모바일 로봇의 선도로봇-추종로봇 군집 제어

Leader-follower Formation Control of Mobile Robots using Least Square Method

The paper deals with leader-follower formations of nonholonomic mobile robots using least square method in order to maintain the formation constantly. The nonholonomic property of the mobile robot cause us to use the least square method. Then, the performance of the developed formation controller is verified by simulation results.