Robot Formation Control in Leader-Follower Motion Using Direct Lyapunov Method
نویسندگان
چکیده
In this paper, we investigate the leader-following based formation control of nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates. Based on this new model and the direct Lyapunov method, a globally stable controller is derived for the whole system. Simulation results are included to verify the feasibility of the proposed model and controller. Index Terms –Formation control, nonholonomic mobile robots, direct Lyapunov method.
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