Virtual-head robot tracking and three-point l-l control for multiple mobile robots

Publication Type:
Conference Proceeding
Proceedings - DIS 2006: IEEE Workshop on Distributed Intelligent Systems - Collective Intelligence and Its Applications, 2006, 2006 pp. 73 - 78
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In the context of robotic formation control, the commonly-used virtual robot tracking combined with l-l control has limitations in the establishment of a line formation, the possibility of collision between robots, and the singularity cases involved. This paper presents a new approach called the virtual-head robot tracking and three-point l-l control incorporated with a reactive control scheme. The proposed approach, tested through extensive simulations, can demonstrate line formations of a group of mobile robots with singularities alleviated and inter-robot collision completely avoided. © 2006 IEEE.
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