%0 Journal Article
%T A Dynamic Regulation and Scheduling Scheme for Formation Control<br>一种编队控制的动态调整与规划方法
%A CHEN Yu-Qing
%A ZHUANG Yan
%A WANG Wei
%A <br>陈余庆
%A 庄严
%A 王伟
%J 自动化学报
%D 2007
%I 
%X This article is concerned with cooperative control problems in formation of mobile robots under the nonholonomic constraints that certain geometrical constraints are imposed on multiple mobile robots throughout their travel. For this purpose, a new method of motion control for formation is presented, which is based on the dynamic regulation and scheduling scheme. It is attractive for its adaptability to the formation structure and desired trajectory. The quality of formation keeping can be evaluated by the instantaneous errors of formation offset and spacing distance. Some kinematics laws are developed to regulate and maintain the formation shape. Simulation results and data analysis show the validity of the proposed approach for a group of robots.
%K Robot formation
%K nonholonomic constraints
%K formation keeping
%K mobile robots<br>合作控制
%K 移动式遥控装置
%K 几何约束
%K 动态调节
%K 不完全约束
%K 队形保持
%K 时序调度
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=E52ADCC0BD5AC259&yid=A732AF04DDA03BB3&vid=27746BCEEE58E9DC&iid=B31275AF3241DB2D&sid=3EABEBD973E45554&eid=20ED669EB429E15C&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=14