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http://dx.doi.org/10.5302/J.ICROS.2013.13.9001

Leader-Follower Based Formation Control of Multiple Mobile Robots Using the Measurements of the Follower Robot  

Park, Bong Seok (Electronic Engineering, Chosun University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.5, 2013 , pp. 385-389 More about this Journal
Abstract
This paper proposes the leader-follower based formation control method for multiple mobile robots. The controller is designed using the measurements of the follower robot such as the relative distance and angle between the leader and the follower. This means that the follower robot does not require the information of the leader robot while keeping the desired formation. Therefore, the proposed control method can reduce the communication loss and the cost for hardware. From Lyapunov stability theory, it is shown that all error signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results demonstrate the effectiveness of the proposed control system.
Keywords
formation control; leader-follower approach; relative distance; relative angle;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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