Leader-Follower Formation Control For Indoor Wheeled Robots Via Dual Heuristic Programming

2020 ◽  
Author(s):  
Yaoqian Peng ◽  
Xinglong Zhang ◽  
Yan Jiang ◽  
Xin Xu ◽  
Jiahang Liu
Keyword(s):  
Formation Control ◽  
Wheeled Robots ◽  
Heuristic Programming

scholarly journals Edge-weighted consensus-based formation control strategy with collision avoidance

Robotica ◽  
2014 ◽  
Vol 33 (2) ◽  
pp. 332-347 ◽  
Author(s):  
Riccardo Falconi ◽  
Lorenzo Sabattini ◽  
Cristian Secchi ◽  
Cesare Fantuzzi ◽  
Claudio Melchiorri
Keyword(s):  
Mobile Robots ◽  
Collision Avoidance ◽  
Obstacle Avoidance ◽  
Control Strategy ◽  
Formation Control ◽  
Weighted Graphs ◽  
Wheeled Robots ◽  
Unknown Environments ◽  
Multi Robot

SUMMARYIn this paper, a consensus-based control strategy is presented to gather formation for a group of differential-wheeled robots. The formation shape and the avoidance of collisions between robots are obtained by exploiting the properties of weighted graphs. Since mobile robots are supposed to move in unknown environments, the presented approach to multi-robot coordination has been extended in order to include obstacle avoidance. The effectiveness of the proposed control strategy has been demonstrated by means of analytical proofs. Moreover, results of simulations and experiments on real robots are provided for validation purposes.

scholarly journals Formation control of nonholonomic wheeled robots in the presence of matched input disturbances

2015 ◽  
Vol 48 (13) ◽  
pp. 63-68 ◽  
Author(s):  
Ewoud Vos ◽  
Matin Jafarian ◽  
Claudio De Persis ◽  
Jacquelien M.A. Scherpen ◽  
Arjan J. van der Schaft
Keyword(s):  
Formation Control ◽  
Wheeled Robots ◽  
Nonholonomic Wheeled Robots

scholarly journals Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

2016 ◽  
Vol 61 (9) ◽  
pp. 2702-2707 ◽  
Author(s):  
Ewoud Vos ◽  
Arjan J. van der Schaft ◽  
Jacquelien M. A. Scherpen
Keyword(s):  
Formation Control ◽  
Wheeled Robots ◽  
Velocity Tracking ◽  
Nonholonomic Wheeled Robots

Formation Control of Wheeled Robots in the Port-Hamiltonian Framework

2014 ◽  
Vol 47 (3) ◽  
pp. 6662-6667 ◽  
Author(s):  
Ewoud Vos ◽  
Jacquelien M.A. Scherpen ◽  
Arjan J. van der Schaft ◽  
Ate Postma
Keyword(s):  
Formation Control ◽  
Wheeled Robots
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