Leader–follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach

Peng, Zhaoxia; Wen, Guoguang; Rahmani, Ahmed; Yu, Yongguang

doi:10.1016/j.robot.2013.05.004

Cited by 143 publications

(84 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To maintain the shape, several control structures including leader-follower, virtual structure and behaviour based approaches have been proposed by a number of researchers. In the leader-follower approach (Liu et al, 2007;Cui et al, 2010;Morbidi et al, 2011;Peng et al, 2013), one vehicle is assigned as a leader vehicle, which has access to overall navigation information and tracks the predefined path. All the other vehicles in the formation are followers aiming to maintain the desired geometric configuration.…”

Section: Formation Control Structurementioning

confidence: 99%

Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

2015

View full text Add to dashboard Cite

a b s t r a c tUnmanned surface vehicles (USVs) have been deployed over the past decade. Current USV platforms are generally of small size with low payload capacity and short endurance times. To improve effectiveness there is a trend to deploy multiple USVs as a formation fleet. This paper presents a novel computer based algorithm that solves the problem of USV formation path planning. The algorithm is based upon the fast marching (FM) method and has been specifically designed for operation in dynamic environments using the novel constrained FM method. The constrained FM method is able to model the dynamic behaviour of moving ships with efficient computation time. The algorithm has been evaluated using a range of tests applied to a simulated area and has been proved to work effectively in a complex navigation environment.

show abstract

Section: Formation Control Structurementioning

confidence: 99%

Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

2015

View full text Add to dashboard Cite

show abstract

“…Basic controller based on backstepping method was presented in Ref. 4, a bioinspired neurodynamics based approach was further developed to solve the impractical velocity jumps problem. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Leader-follower Formation Control of Mobile Robots with Sliding Mode

Zheng

Jia

2017

JRNAL

View full text Add to dashboard Cite

This paper considers the formation control of nonholonomic mobile robots. The formation problem is converted to the error model based on the leader-follower structure. A sliding mode controller, which is proved to be globally finite-time stable by Lyapunov stability theory, is presented in this study. In addition, a continuous reaching law is designed to reduce the chattering which caused by the computation time delays and limitations of control. Simulation results verify the feasibility and effectiveness of the control strategy.

show abstract

“…Compared with existing works in the literature, the current paper has the following advantages: Firstly, the relative distance and angle for each robot with its leader are not required to be known, which is different from the traditional leader-follower approach [1,8,16,17]. Secondly, in contrast to that only kinematic control models considered in [6,7,[18][19][20], the controllers designed in this paper are based on both the kinematic and dynamic models of robots.…”

Section: Introductionmentioning

confidence: 99%

Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network

et al. 2016

Self Cite

View full text Add to dashboard Cite

This paper investigates the distributed formation control problem for multiple nonholonomic wheeled mobile robots. A variable transformation is first proposed to convert the formation control problem into a state consensus problem. Then, when the dynamics of the mobile robots are considered, the distributed kinematic controllers and neural network torque controllers are derived for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern along the specified reference trajectory. The specified reference trajectory is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers. Also the followers are assumed to have only local interaction. Moreover, the neural network torque controllers proposed in this work can tackle the dynamics of robots with unmodeled bounded disturbances and unstructured unmodeled dynamics. Some sufficient conditions are derived for accomplish the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples illustrate the effectiveness of the proposed controllers.

show abstract

Leader–follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach

Cited by 143 publications

References 33 publications

Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

Path planning algorithm for unmanned surface vehicle formations in a practical maritime environment

Leader-follower Formation Control of Mobile Robots with Sliding Mode

Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network

Contact Info

Product

Resources

About