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This paper describes a leader-follower based formation control framework to coordinate multiple nonholonomic mobile robots. The proposed strategy deploys a control theoretic bottom-up approach where, continuous controllers are coordinated by a supervisory controlled discrete event system. All the mobile robots are required to navigate in an obstacle populated environment. And the followers keep a...
This paper explains a hybrid control strategy developed to coordinate multiple autonomous mobile robots with nonholonomic constraints. The robots are required to navigate in an obstacles populated environment with a predetermined geometric formation. The nonlinear robot dynamics are fully state feedback linearized in order to yield linear controllable systems while the dynamics of the environment...
This paper proposes a novel formation control strategy for multiple nonholonomic mobile robots based on dynamic feedback linearization and supervisory control of discrete event systems. The proposed leader-follower formation strategy requires that all the robots navigate in an unstructured environment avoiding obstacles and following walls. In addition, the followers are also required to keep a predetermined...
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