Vision-based flexible leader-follower formation tracking of multiple nonholonomic mobile robots in unknown obstacle environments

• Main Authors: Wang, Yuanzhe, Shan, Mao, Yue, Yufeng, Wang, Danwei
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2019
• Subjects: Flexible Formation; Formation Control; DRNTU::Engineering::Electrical and electronic engineering
• Online Access: https://hdl.handle.net/10356/105337; http://hdl.handle.net/10220/48012; http://dx.doi.org/10.1109/TCST.2019.2892031
• Institution: Nanyang Technological University

This brief investigates the flexible leader-follower formation tracking problem for a group of nonholonomic mobile robots, while most of the formation control related work in the literature focuses on the rigid formation. The flexible formation discussed in this brief is defined in curvilinear coord...