Stability analysis of mobile robot formations based on synchronization of coupled oscillators

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• 作者：Tadashi Nakamura^* ; Miyuki Tsukiji^* ; Naoyuki Hara^* ; ^{n-hara@eis.osakafu-u.ac.jp" class="auth_mail" title="E-mail the corresponding author} ; Keiji Konishi^*
• 关键词：Stability ; Mobile robot ; Formation control ; Coupled oscillators ; Synchronization
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：22
• 页码：187-191
• 全文大小：553 K

文摘

The present paper deals with mobile robot circular formations realized by a simple control law. This law is established by utilizing synchronization of coupled limit-cycle oscillators. The stability of formations is analyzed, and the analytical results give a simple procedure for designing a control law. This procedure allows us to choose a desired circular formation. Furthermore, the analytical results guarantee that we can specify any radius of circular formations. The results are verified by some numerical examples.