Formation Tracking with Orientation Convergence for Groups of Unicycles

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ID: 92435
2013
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Ranked #9 of 12 articles by views in international journal of advanced robotic systems

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Abstract
This paper presents three trajectory tracking control strategies for unicycle-type robots based on a leader-followers scheme. The leader robot converges asymptotically to a smooth trajectory, while the follower robots form an undirected open-chain configuration at the same time. It is also shown that the orientation angles of all the robots converge to the same value. The control laws are based on a dynamic extension of the kinematic model of each robot. The output function to be controlled is the midpoint of the wheel axis of every robot. This choice leads to an ill-defined control law when the robot is at rest. To avoid such singularities, a complementary control law is enabled momentarily when the linear velocity of the unicycles is close to zero. Finally, numerical simulations and real-time experiments show the performance of the control strategies.
Reference Key
gonzalezsierra2013formationinternational Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors González-Sierra, Jaime;Aranda-Bricaire, Eduardo;Hernandez-Martinez, Eduardo Gamaliel;
Journal international journal of advanced robotic systems
Year 2013
DOI
DOI not found
URL
https://doi.org/10.5772/55582
Keywords
Biology (General) Medicine Materials of engineering and construction. Mechanics of materials Biotechnology Technology Electrical engineering. Electronics. Nuclear engineering Mechanical engineering and machinery neurology. diseases of the nervous system electronics electronic computers. computer science

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