Formation Control of Multiple Nonholonomic Mobile Robots

Neuro-adaptive Formation Maintenance and Control of Nonholonomic Mobile Robots

In this paper, the problem of fleet navigation with formation control and maintenance under leaderfollower strategy has been addressed using simultaneous localization and mapping (SLAM)-based navigation unit and artificial potential field approaches. Agents are nonholonomic ground robots. In the proposed approach, the leader or virtual leader is assumed to be the center of the formation and its...

Formation Compound Control for Nonholonomic Mobile Robots under Motion Constraints

The formation keeping characteristics for nonholonomic autonomous mobile robots are investigated in this paper. A novel approach of compound control is presented, which deals with the formation task based on two different algorithms: a flexible feedback linearization control algorithm and an optimal approximate target algorithm. And the algorithms are selected according to robot’s expected loca...

Model Predictive Control of Nonholonomic Mobile Robots

Sensor-based control of nonholonomic mobile robots

The problem of tracking a moving target with a nonholonomic mobile robot, by using sensor-based control techniques, is addressed. Two control design methods, relying on the transverse function approach, are proposed. For the first method, sensory signals are used to calculate an estimate of the relative pose of the robot with respect to the target. This estimate is then used for the calculation...

Biomimetic Control Methods for Nonholonomic Mobile Robots

Biomimetics can be expressed as biologically inspired mechanical devices. The term of itself is derived from bios, meaning life, and mimesis, meaning to imitate. This thesis deals with biomimetic approaches for controlling nonholonomic mobile robot. It obtains three techniques of such biomimetic approaches. They include adaptive actor-critic algorithms, feedforward and feedback techniques. The ...