TY - GEN
T1 - Switching control and modeling of mobile robots formation
AU - Bravo, F.
AU - Patino, D.
AU - Melo, K.
AU - Parra, C.
PY - 2011
Y1 - 2011
N2 - This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the continuous and discrete dynamics of the leader-following approach, we model the formation control as a switching control. This allows any robot to be part of the formation as leader or follower any time. The control law is validated through simulation.
AB - This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the continuous and discrete dynamics of the leader-following approach, we model the formation control as a switching control. This allows any robot to be part of the formation as leader or follower any time. The control law is validated through simulation.
UR - http://www.scopus.com/inward/record.url?scp=83455228463&partnerID=8YFLogxK
U2 - 10.1109/LARC.2011.6086830
DO - 10.1109/LARC.2011.6086830
M3 - Conference contribution
AN - SCOPUS:83455228463
SN - 9781457716904
T3 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
BT - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
T2 - 2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
Y2 - 1 October 2011 through 4 October 2011
ER -