Hierarchical leader-follower based formation control of car-like mobile robots with feedback linearization in dynamic environments

In this article formation control of multiple car-like mobile robots in a dynamic environment with use oflocal information is studied.In modeling of car-like mobile robot, physical dimensions, mass, moment of inertia, movement constraints and saturation of actuators are taken into account,and to control of every agent, input/output feedback linearization method is used. Ahierarchical leader follower based algorithm, is used to control the formation of robots. We use local artificial potential fields for collision avoidance between robots and obstacles, and between robots in the formation. Simulation results with five robots are presented to show the performance of the proposedcontrol system.

کلیدواژه ها:

Swarm ، Formation control ، Nonholonomic ، Car-like mobile robot ، Feedback linearization