Leader-Following Formation Tracking Control of Nonholonomic Mobile Robots Considering Collision Avoidance: A System Transformation Approach
In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters of desired trajectory is investigated. First, the under-actuated system is transformed into a fully-actuated system by obtaining an auxiliary control...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
|
| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/12/24/12579 |