A control strategy for coordinated path following of multiple mobile robots is presented in this paper. A virtual vehicle concept is combined with a path following approach to achieve formation tasks. Our formation controller is proposed for the kinematic model of unicycle-type mobile robots. It is designed in such a way that the path derivative is employed as an additional control input to synchronize the robot's motion with neighboring robots. A second-order consensus algorithm under undirected information exchange is introduced to derive the control law for synchronization. Our controller was validated by simulations and experiments with three unicycle-type mobile robots.
CITATION STYLE
Kanjanawanishkul, K., Hofmeister, M., & Zell, A. (2009). Coordinated path following for mobile robots. In Informatik aktuell (pp. 185–192). Kluwer Academic Publishers. https://doi.org/10.1007/978-3-642-10284-4_24
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