Relative docking and formation control via range and odometry measurements

• Main Authors: Cao, Kun, Qiu, Zhirong, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering; Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; Docking; Formation Control
• Online Access: https://hdl.handle.net/10356/146206
• Institution: Nanyang Technological University

This article studies the problem of distance-based relative docking of a single robot and formation control of multirobot systems. In particular, an integrated localization and navigation scheme is proposed for a robot to navigate itself to a desired relative position with respect to a fixed landmar...