Brief paper: Leader-follower formation control of nonholonomic mobile robots with input constraints

Authors:
Luca Consolini;Fabio Morbidi;Domenico Prattichizzo;Mario Tosques
Affiliations:
Department of Information Engineering, University of Parma, Via Usberti 181/a, 43100 Parma, Italy;Department of Information Engineering, University of Siena, Via Roma 56, 53100 Siena, Italy;Department of Information Engineering, University of Siena, Via Roma 56, 53100 Siena, Italy;Department of Civil Engineering, University of Parma, Via Usberti 181/a, 43100 Parma, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2008

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Abstract

The paper deals with leader-follower formations of nonholonomic mobile robots, introducing a formation control strategy alternative to those existing in the literature. Robots' control inputs are forced to satisfy suitable constraints that restrict the set of leader possible paths and admissible positions of the follower with respect to the leader. A peculiar characteristic of the proposed strategy is that the follower position is not rigidly fixed with respect to the leader but varies in proper circle arcs centered in the leader reference frame.