Formation control of nonholonomic mobile robots using graph theoretical methods

Abstract

In this chapter, formation control of mobile robots with nonlinear models is considered. Two controllers are proposed with the aid of the dynamic feedback linearization technique, the time-scaling technique and properties of Laplacian matrix. The proposed controllers ensure the group of mobile robots to move in a desired formation. Existing results in formation control using graph theoretical methods are extended to nonlinear systems of high dimensions. Simulation results show the effectiveness of the proposed controllers. © 2007 Springer-Verlag Berlin Heidelberg.