2016
DOI: 10.24200/sci.2016.3931
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Flexible Formation of Multiple Car-like Robots with respect to a Dynamic Environment

Abstract: This paper attempts to give a perspective on decentralized formation control of multiple car-like mobile robots using local information and formation changes in a dynamic environment having several obstacles. In addition, for every mobile robot, it takes physical dimensions, mass, moment of inertia, movement constraints, and saturation of actuators into account. This study makes use of Input/Output Feedback Linearization Method to control each robot. Hence, hierarchical leader-follower based algorithm is emplo… Show more

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