The paper focuses on leader-follower formations of nonholonomic mobile robots. A formation control alternative to those existing in the literature is introduced. We show that the geometry of the formation imposes a bound on the maximum admissible curvature of leader trajectory. A peculiar feature of the proposed strategy is that the followers position is not rigidly fixed with respect to the leader reference frame but varies in suitable cones centered in the leader reference frame. Our approach also applies to hierarchical multirobot formations described by rooted tree graphs. Simulation experiments confirm the effectiveness of the proposed control schemes.
L., C., F., M., Prattichizzo, D., M., T. (2007). A Geometric Characterization of Leader-Follower Formation Control. In Proc. IEEE Int. Conf. on Robotics and Automation (pp.2397-2402). IEEE [10.1109/ROBOT.2007.363678].
A Geometric Characterization of Leader-Follower Formation Control
PRATTICHIZZO, DOMENICO;
2007-01-01
Abstract
The paper focuses on leader-follower formations of nonholonomic mobile robots. A formation control alternative to those existing in the literature is introduced. We show that the geometry of the formation imposes a bound on the maximum admissible curvature of leader trajectory. A peculiar feature of the proposed strategy is that the followers position is not rigidly fixed with respect to the leader reference frame but varies in suitable cones centered in the leader reference frame. Our approach also applies to hierarchical multirobot formations described by rooted tree graphs. Simulation experiments confirm the effectiveness of the proposed control schemes.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/11365/32340
Attenzione
Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo