Summary
This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Experimental results on commercial unicycle-like mobile robots are provided to show the feasibility and performance of the proposed control strategy.
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© 2007 Springer-Verlag Berlin Heidelberg
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Toibero, J.M., Roberti, F., Fiorini, P., Carelli, R. (2007). Hybrid Formation Control for Non-Holonomic Wheeled Mobile Robots. In: Lee, S., Suh, I.H., Kim, M.S. (eds) Recent Progress in Robotics: Viable Robotic Service to Human. Lecture Notes in Control and Information Sciences, vol 370. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76729-9_3
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DOI: https://doi.org/10.1007/978-3-540-76729-9_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-76728-2
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