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FORMATION CONTROL OF MULTIPLE AUTONOMOUS VEHICLES: THEORY AND EXPERIMENTATION
Wei Kang*, Ning Xi‡, Yiwen Zhao‡, Jindong Tan†, Yuechao Wang‡
* Mathematics Department, Naval Postgraduate School,
Monterey, CA 93943
† Department of ECE, Michigan State University,
East Lansing, MI 48824.
‡ Shenyang Institute of Automation, Chinese Academy of Science
Shenyang, P.R. China.
The formation control of multiple vehicles using a perceptive frame is studied in this paper. The method is applied to multiple mobile robots. The controller design and lab experiments are shown in the paper. Some useful strategies of coordination are implemented in a perceptive frame by reference projections. The feature of the coordination is illustrated by experiments of three mobile robots.
Keywords: Control system design, control algorithms, control applications, mobile robots
Session slot T-Th-M14: Motion Control Design/Area code 2a : Control Design
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