Experimental verification of formation control in nonholonomic multi-mobile robots
作者单位：School of Mechatronic Engineering and Automation Shanghai University Shanghai Institute of Applied Mathematics and Mechanics and Shanghai Key Laboratory of Mechanics in Energy Engineering Shanghai University
会议名称：《第40届中国控制会议》
会议日期：2021年
学科分类：08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程]
关 键 词：nonholonomic mobile robots tracking controller experimental validation
摘 要：Mobile robots is one of the well-known nonholonomic system. A new kinematic consistency controller is proposed for a nonholonomic mobile robot model with an integrated approach of kinematic and torque controllers to accomplish tracking control of the target trajectory. In this paper, the reliability of the controller is demonstrated using simulation software and a two-drive wheel mobile robot experimental platform to validate the controller.