Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Leader-Follower Based Formation Control of Multiple Mobile Robots Using the Measurements of the Follower Robot

추종 로봇의 측정값들을 이용한 다중 이동 로봇의 선도-추종 접근법 기반 군집 제어

  • 박봉석 (조선대학교 전자공학과)
  • Received : 2013.02.20
  • Accepted : 2013.03.15
  • Published : 2013.05.01
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Abstract

This paper proposes the leader-follower based formation control method for multiple mobile robots. The controller is designed using the measurements of the follower robot such as the relative distance and angle between the leader and the follower. This means that the follower robot does not require the information of the leader robot while keeping the desired formation. Therefore, the proposed control method can reduce the communication loss and the cost for hardware. From Lyapunov stability theory, it is shown that all error signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results demonstrate the effectiveness of the proposed control system.

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References

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