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oaioai:scholarsmine.mst.edu:masters_theses-5561

Nonlinear control of nonholonomic mobile robot formations

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Publication date
1 January 2007
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Scholars\u27 Mine

Abstract

In this thesis, the framework developed to control a single nonholonomic mobile robot is expanded to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers typically found in literature --Abstract, page iv

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Missouri University of Science and Technology (Missouri S&T): Scholars' Mine

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Last time updated on 17/10/2019

This paper was published in Missouri University of Science and Technology (Missouri S&T): Scholars' Mine.

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