Observer-based decentralized approach to robotic formation control
Nguyen, A. D., Ha, Q. P., Huang, S. and Trinh, Hieu 2004, Observer-based decentralized approach to robotic formation control, in Proceedings of the 2004 Australasian Conference on Robotics & Automation, Australian Robotics & Automation Association, [Canberra, A.C.T.], pp. 1-8.
(Some files may be inaccessible until you login with your Deakin Research Online credentials)
Proceedings of the 2004 Australasian Conference on Robotics & Automation
Barnes, Nick Austin, David
Australasian Conference on Robotics and Automation
Australian Robotics & Automation Association
Place of publication
Control of a group of mobile robots in a formation requires not only environmental sensing but also communication among vehicles. Enlarging the size of the platoon of vehicles causes difficulties due to communications bandwidth limitations. Decentralized control may be an appropriate approach in those cases when the states of all vehicles cannot be obtained in a centralized manner. This paper presents a solution to the problem of decentralized implementation of a global state-feedback controller for N mobile robots in a formation. The proposed solution is based on the design of functional observers to estimate asymptotically the global state-feedback control signals by using the corresponding local output information and some exogenous global functions. The proposed technique is tested through simulation and experiments for the control of groups of Pinoneer-based non-holonomic mobile robots.
Every reasonable effort has been made to ensure that permission has been obtained for items included in Deakin Research Online. If you believe that your rights have been infringed by this repository, please contact email@example.com
Unless expressly stated otherwise, the copyright for items in Deakin Research Online is owned by the author, with all rights reserved.
Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO.
If you believe that your rights have been infringed by this repository, please contact firstname.lastname@example.org.