FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP
DOI:
https://doi.org/10.14311/APP.2016.56.0001Keywords:
formation control, multi-robot system, unicycle-type robot, Lie group, Lie algebraAbstract
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.Downloads
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Published
2016-02-29
How to Cite
Dong, Y., & Rahmani, A. (2016). FORMATION CONTROL OF MULTIPLE UNICYCLE-TYPE ROBOTS USING LIE GROUP. Acta Polytechnica, 56(1), 1–9. https://doi.org/10.14311/APP.2016.56.0001
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