This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Experimental results on commercial unicycle-like mobile robots are provided to show the feasibility and performance of the proposed control strategy. © 2008 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Toibero, J. M., Roberti, F., Fiorini, P., & Carelli, R. (2008). Hybrid formation control for non-holonomic wheeled mobile robots. In Lecture Notes in Control and Information Sciences (Vol. 370, pp. 21–34). https://doi.org/10.1007/978-3-540-76729-9_3
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