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Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations

Yamaguchi, Hiroaki and Burdick, Joel W. (1998) Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations. In: Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Vol.4. IEEE , Piscataway, NJ, pp. 3573-3580. ISBN 0-7803-4300-X. https://resolver.caltech.edu/CaltechAUTHORS:20190624-101038897

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Abstract

Presents a control approach for multiple nonholonomic wheeled mobile robots of the Hilare-type to form group formations. To control the formation, each robot has its own coordinate system and it controls its relative positions to its neighboring robots. Particularly, it has a vector called "a formation vector, and the formation is controllable by the vectors. Since the robots have nonholonomic constraints, it is not possible for them to directly move in omni-directions, which means that such nonholonomic vehicles cannot be asymptotically stabilized by smooth static-state feedback control laws. We introduce a smooth time-varying feedback control law whose asymptotic stability is guaranteed in a mathematical framework, averaging theory. The validity of this law is verified by computer simulations.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1998.681022DOIArticle
Additional Information:© 1998 IEEE.
Record Number:CaltechAUTHORS:20190624-101038897
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190624-101038897
Official Citation:H. Yamaguchi and J. W. Burdick, "Asymptotic stabilization of multiple nonholonomic mobile robots forming group formations," Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), Leuven, Belgium, 1998, pp. 3573-3580 vol.4. doi: 10.1109/ROBOT.1998.681022
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96659
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:24 Jun 2019 18:18
Last Modified:03 Oct 2019 21:24

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