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Paper Information

Journal:   MODARES MECHANICAL ENGINEERING   FEBRUARY 2017 , Volume 16 , Number 11 ; Page(s) 103 To 112.
 
Paper: 

FORMATION CONTROL OF A DIFFERENTIAL DRIVE WHEELED ROBOT IN TRAJECTORY TRACKING

 
 
Author(s):  KEYMASI KHALAJI ALI*
 
* DEPARTMENT OF MECHANICAL ENGINEERING, KHARAZMI UNIVERSITY, TEHRAN, IRAN
 
Abstract: 

One of the main topics in the field of robotics is the formation control of the group of robots in trajectory tracking problem. Using organized robots has many advantages compared to using them individually. Among them the efficiency of using resources, the possibility of robots' cooperation, increasing reliability and resistance to defects can be pointed out. Therefore, formation control of multibody robotic systems and intelligent vehicles have attracted considerable attention, this is discussed in this paper. First, kinematic and kinetic equations of a differential drive wheeled robot are obtained.
Then, reference trajectories for tracking problem of the leader robot are produced. Next, a kinematic control law is designed for trajectory tracking of the leader robot. The proposed controller steers the leader robot asymptotically, following reference trajectories. Subsequently, a dynamic control algorithm for generating system actuator toques is designed based on feedback linearization method. Afterwards, formation control of the robots has been considered and an appropriate algorithm is designed in order to organize the follower robots in the desired configurations, while tracking control of the wheeled robot.
Furthermore, the stability of the presented algorithms for kinematic, dynamic and formation control laws is analyzed using Lyapunov method. Finally, obtained results for different reference paths are presented which represent the effectiveness of the proposed controller.

 
Keyword(s): WHEELED MOBILE ROBOT, NONHOLONOMIC SYSTEMS, TRAJECTORY TRACKING, FORMATION CONTROL
 
References: 
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