Formation control for car-like mobile robots using front-wheel driving and steering

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Abstract

To solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader–follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then analyze its controllability via the method of chained form system, and design the trajectory-tracking controller via the backstepping method. Simulations and experimental results validate our algorithm. This novel car-like robot with the integration of front-wheel driving and steering system not only avoids the jamming in the formation motion, but also owes the advantages of compacter structure, lighter body, and lower energy consumption.

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Chen, H., Yang, H., Wang, X., & Zhang, T. (2018). Formation control for car-like mobile robots using front-wheel driving and steering. International Journal of Advanced Robotic Systems, 15(3). https://doi.org/10.1177/1729881418778228

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