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Authors: Yu. N. Zolotukhin ; K. Yu. Kotov ; A. S. Maltsev ; A. A. Nesterov ; M. A. Sobolev and M. N. Filippov

Affiliation: Institute of Automation and Electrometry and Siberian Branch of the Russian Academy of Sciences, Russian Federation

Keyword(s): Leader-follower Robot Formation, Formation Control, Desired Motion.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper deals with leader-follower formations of nonholonomic mobile robots and introduces a new nonlinear control method for the robot motion in formation. Proposed approach enables to track the target position and is based on using a forced movement along the desired trajectory in the state space. Moreover, this approach requires only relative and local motion sensors data. Simulation results have demonstrated the effectiviness and robustness of the proposed control shemes.

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Paper citation in several formats:
Zolotukhin, Y.; Kotov, K.; Maltsev, A.; Nesterov, A.; Sobolev, M. and Filippov, M. (2015). A Relative Measurement based Leader-follower Formation Control of Mobile Robots. In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-123-6; ISSN 2184-2809, SciTePress, pages 310-313. DOI: 10.5220/0005543103100313

@conference{icinco15,
author={Yu. N. Zolotukhin. and K. Yu. Kotov. and A. S. Maltsev. and A. A. Nesterov. and M. A. Sobolev. and M. N. Filippov.},
title={A Relative Measurement based Leader-follower Formation Control of Mobile Robots},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2015},
pages={310-313},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005543103100313},
isbn={978-989-758-123-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - A Relative Measurement based Leader-follower Formation Control of Mobile Robots
SN - 978-989-758-123-6
IS - 2184-2809
AU - Zolotukhin, Y.
AU - Kotov, K.
AU - Maltsev, A.
AU - Nesterov, A.
AU - Sobolev, M.
AU - Filippov, M.
PY - 2015
SP - 310
EP - 313
DO - 10.5220/0005543103100313
PB - SciTePress

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