Abstract
The formation control problem of a class of wheeled robots with nonholonomic constraints and directional communication topology is discussed. In order to avoid the robot being unable to maintain the required geometric structure in the complex communication environment, a formation control protocol with coupling weight based on Zipf distribution is designed to reduce the information exchange between robots. The formation control problem of the multi-robot system is transformed into the stability analysis problem of the error system. The formation conditions of robot formation are given, and the effectiveness of the formation control protocol is verified by simulation experiments.
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Yin, L., Wang, S. (2020). Formation Control for a Class of Wheeled Robots with Nonholonomic Constraint. In: Patnaik, S., Wang, J., Yu, Z., Dey, N. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2019. Advances in Intelligent Systems and Computing, vol 1060. Springer, Singapore. https://doi.org/10.1007/978-981-15-0238-5_37
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DOI: https://doi.org/10.1007/978-981-15-0238-5_37
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