FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP

Youwei Dong, Ahmed Rahmani

Abstract


In this paper the formation control of a multi-robots system is investigated. The proposed control law, based on Lie group theory, is applied to control the formation of a group of unicycle-type robots. The communication topology is supposed to be a rooted directed acyclic graph and fixed. Some numerical simulations using Matlab are made to validate our results.

Keywords


formation control; multi-robot system; unicycle-type robot; Lie group; Lie algebra

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ISSN 1210-2709 (Print)
ISSN 1805-2363 (Online)
Published by the Czech Technical University in Prague