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Formation Control Algorithm for Coupled Unicycle-Type Mobile Robots Through Switching Interconnection Topology

스위칭 연결 구조를 갖는 외발형 이동 로봇들에 대한 대형 제어 알고리듬

  • 김홍근 (서울대학교 전기컴퓨터공학부) ;
  • 심형보 (서울대학교 전기컴퓨터공학부) ;
  • 백주훈 (광운대학교 로봇학부)
  • Received : 2012.02.26
  • Accepted : 2012.03.27
  • Published : 2012.05.01

Abstract

In this study, we address the formation control problem of coupled unicycle-type mobile robots, each of which can interact with its neighboring robots by communicating their position outputs. Each communication link between two mobile robots is assumed to be established according to the given time-varying interconnection topology that switches within a finite set of connected fixed undirected networks and has a non-vanishing dwell time. Under this setup, we propose a distributed formation control algorithm by using the dynamics extension and feedback linearization methods, and by employing a consensus algorithm for linear multi-agent systems which provides arbitrary fast convergence rate to the agreement of the multi-agent system. Finally, the proposed result is demonstrated through a computer simulation.

Acknowledgement

Supported by : 한국연구재단

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