A Stable Formation Control Using Approximation of Translational and Angular Accelerations
In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF)...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2011-03-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/10530 |
| _version_ | 1819204813897859072 |
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| author | Viet-Hong Tran Suk-Gyu Lee |
| author_facet | Viet-Hong Tran Suk-Gyu Lee |
| author_sort | Viet-Hong Tran |
| collection | DOAJ |
| description | In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams. |
| first_indexed | 2024-12-23T04:41:47Z |
| format | Article |
| id | doaj.art-3bf7f4454913499d95616b1449dbe38a |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-23T04:41:47Z |
| publishDate | 2011-03-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-3bf7f4454913499d95616b1449dbe38a2022-12-21T17:59:45ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142011-03-01810.5772/1053010.5772_10530A Stable Formation Control Using Approximation of Translational and Angular AccelerationsViet-Hong TranSuk-Gyu LeeIn this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader – single follower (SLSF) or for novel two leaders – single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams.https://doi.org/10.5772/10530 |
| spellingShingle | Viet-Hong Tran Suk-Gyu Lee A Stable Formation Control Using Approximation of Translational and Angular Accelerations International Journal of Advanced Robotic Systems |
| title | A Stable Formation Control Using Approximation of Translational and Angular Accelerations |
| title_full | A Stable Formation Control Using Approximation of Translational and Angular Accelerations |
| title_fullStr | A Stable Formation Control Using Approximation of Translational and Angular Accelerations |
| title_full_unstemmed | A Stable Formation Control Using Approximation of Translational and Angular Accelerations |
| title_short | A Stable Formation Control Using Approximation of Translational and Angular Accelerations |
| title_sort | stable formation control using approximation of translational and angular accelerations |
| url | https://doi.org/10.5772/10530 |
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