Formation Compound Control for Nonholonomic Mobile Robots under Motion Constraints
نویسندگان
چکیده
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 location and motion constraint domain. Also the formation stability is discussed to complete a steady formation. The proposed method can not only reduce the limitation of initial errors than traditional feedback linearization, rectify the formation shape distortion due to collision, but also resolve the unstable controlling problem while robots are turning rapidly. The experimental results have demonstrated the method’s effectiveness. Keyword: nonholonomic robot; formation keeping; feedback linearization
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