Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive Sliding-Mode Formation Control and Collision Avoidance for Multi-agent Nonholonomic Mobile Robots with Model Uncertainty and Disturbance

모델 불확실성 및 외란을 갖는 이동 로봇들을 위한 적응 슬라이딩 모드 군집 제어 및 충돌 회피 기법

  • 박봉석 (연세대학교 전기전자공학과) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Received : 2010.04.27
  • Accepted : 2010.06.11
  • Published : 2010.11.01
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Abstract

In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.

Keywords

References

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