Formation control of multiple unicycle-type robots using lie group

Youwei Dong, Ahmed Rahmani

Formation control of multiple unicycle-type robots using lie group

Číslo: 1/2016
Periodikum: Acta Polytechnica
DOI: 10.14311/APP.2016.56.0001

Klíčová slova: formation control; multi-robot system; unicycle-type robot; Lie group; Lie algebra, Regulace tvorby; Systém více robotů; Robot typu jednokolky

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Anotace: In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.