Switching between formations for multiple mobile robots via synchronous controller

• Main Authors: Sanhoury, Ibrahim M. H., Mohamad Amin, Shamsudin, Husain, Abdul Rashid
• Format: Book Section
• Published: IEEE 2012
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/21156/; http://dx.doi.org/10.1109/CSPA.2012.6194748
• Institution: Universiti Teknologi Malaysia

This paper proposes a new synchronous control law to perform multiple mobile robots trajectory tracking while maintaining time-varying formations. Each robot is controlled to track its desired trajectory while synchronizing its motion with the two nearby robots to maintain the desired time-varying f...