Modelling and Feedback Control for Reversing a Nonholonomic Mobile Robot Platoon
Keywords:mobile robot, reverse platooning, mathematical model, high-gain control
This paper addresses the control problem of a platoon of nonholonomic mobile robots in the case of backward motion of the leading robot. By using a virtual non-static with respect to the lead robot reference frame as a target, a kinematic model of the robot platoon in error coordinates is developed. A nonlinear feedback controller based on the entire platoon model is designed by means of high-gain control. Asymptotic stability property of the closed-loop system is established using Lyapunov theory. For backward motion of the leading robot along a circular path, at steady-state, the two-robot platoon should travel concentric arcs of same radii with prescribed inter-robot spacing. The performance of the proposed tracking controller is illustrated through numerical simulations.
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LicenseCopyright (c) 2023 Proceedings of the Bulgarian Academy of Sciences
Copyright (c) 2022 Proceedings of the Bulgarian Academy of Sciences
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