The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Formation Control of Mobile Robot for Moving Object Tracking

이동물체 추적을 위한 이동로봇의 대형제어

  • 오영석 (인하대학교 로봇공학) ;
  • 이충호 (현대로템(주)) ;
  • 박종훈 (인하대학교 로봇공학) ;
  • 김진환 (인하공업전문대학 전기정보과) ;
  • 허욱열 (인하대학교 IT공대 전기공학과)
  • Received : 2011.01.11
  • Accepted : 2011.03.22
  • Published : 2011.04.01
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Abstract

The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

Keywords

References

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Cited by

  1. Moving Object Following by a Mobile Robot using a Single Curvature Trajectory and Kalman Filters vol.19, pp.7, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1875