TY - GEN
T1 - Leader-following Consensus and Trajectory Tracking for Nonholonomic Mobile Robots
AU - Wu, Shuang
AU - Xia, Yuanqing
AU - Lin, Min
AU - Luo, Yu
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, a trajectory tracking algorithm for leader and a leader-following consensus control law for followers are investigated for nonholonomic mobile robots. First, by using the trajectory tracking algorithm, the leader can be guaranteed on the desired position, attitude, velocity and angular velocity. Second, based on the traditional consensus problem of multiagent systems, we propose an improved consensus algorithm to account for input saturations and remove the requirement of velocity measurements. Finally, a convoy formation is achieved. In the formation, the leader moves in the trajectory expected in the mission, while the followers convoy the leaderwith a certain formation, which can be time-varying or time-invariant. The performance of the algorithm is demonstrated by simulation.
AB - In this paper, a trajectory tracking algorithm for leader and a leader-following consensus control law for followers are investigated for nonholonomic mobile robots. First, by using the trajectory tracking algorithm, the leader can be guaranteed on the desired position, attitude, velocity and angular velocity. Second, based on the traditional consensus problem of multiagent systems, we propose an improved consensus algorithm to account for input saturations and remove the requirement of velocity measurements. Finally, a convoy formation is achieved. In the formation, the leader moves in the trajectory expected in the mission, while the followers convoy the leaderwith a certain formation, which can be time-varying or time-invariant. The performance of the algorithm is demonstrated by simulation.
KW - consensus algorithm
KW - multi-agent formation
KW - nonholonomic constraints
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85062789909&partnerID=8YFLogxK
U2 - 10.1109/CAC.2018.8623591
DO - 10.1109/CAC.2018.8623591
M3 - Conference contribution
AN - SCOPUS:85062789909
T3 - Proceedings 2018 Chinese Automation Congress, CAC 2018
SP - 3678
EP - 3683
BT - Proceedings 2018 Chinese Automation Congress, CAC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 Chinese Automation Congress, CAC 2018
Y2 - 30 November 2018 through 2 December 2018
ER -