Summary
International Symposium on Nonlinear Theory and Its Applications
2016
Session Number:A3L-E
Session:
Number:A3L-E-3
Robust Performance of Two-Wheeled Mobile Robot Circular Formations Controlled by Coupled Oscillators
Tadashi Nakamura, Koki Yoshida, Keiji Konishi, Naoyuki Hara,
pp.-
Publication Date:2016/11/27
Online ISSN:2188-5079
Summary:
Formation control has recently received considerable attention in the field of robotics and control theory. The present paper deals with two-wheeled mobile robots which achieve circular formations based on dynamics of coupled oscillators. The main advantage of this control is that circular formations can be obtained by a simple control law based on nonlinear dynamics. The purpose of this paper is to show an another advantage, robustness of formation: even if some robots on formations stop due to trouble, the remaining robots make up for the troubled robots and keep to form the circular pattern without changing control law.