Coordinated path following control of multiple wheeled mobile robots through decentralized speed adaptation
作者： Xianbo Xiang , Lionel Lapierre , Bruno Jouvencel , Olivier Parodi
DOI: 10.1109/IROS.2009.5354073
关键词:
摘要: This paper addresses the problem of coordinated path following multiple wheeled mobile robots while keeping a desired formation. The control laws proposed are categorized into two envelopes, one is steering individual to trace along predefined paths, and other ensuring tracked paths be well defined in formation, by means decentralized speed adaption.Within this framework, geometric built on Lyapunov theory backstepping techniques, injecting helmsman like behavior control. Speed adaption with minimum communication variable under constraints multi-robot topology, elaborately designed without relative speeds between neighboring requested. simple but effective controller design, enables system stabilized an invariant manifold, all converge profiles addition. Simulation results illustrate efficacy solution proposed.
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