Hybrid Formation Control for Non-Holonomic Wheeled Mobile Robots

TOIBERO, J. M.; FLAVIO ROBERTI; CARELLI, R.; FIORINI, P.

Lecture Notes in Control and Information Sciences: Recent Progress in Robotics; Viable Robotic Service to Human

Springer-Verlag

Año: 2008 vol. 370 p. 21 - 34

0170-8643

This paper presents a hybrid formation controller approach for nonholonomic mobile robots. This approach is based on the stable switching between a leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Experimental results on commercial unicycle-like mobile robots are provided to show the feasibility and performance of the proposed control strategy.