%0 Journal Article
%T A Stable Formation Control Using Approximation of Translational and Angular Accelerations
%A Viet-Hong Tran
%A Suk-Gyu Lee
%J International Journal of Advanced Robotic Systems
%D 2011
%I InTech
%X In this paper, a stable leader-following formation control for multiple non-holonomic mobile robot systems using only limited on-board sensor information is proposed. The control can be used for the conventional single leader - single follower (SLSF) or for novel two leaders - single follower (TLSF) schemes. The control algorithm utilizes estimations of the leaders' translational and angular accelerations in a simple form to reduce the measurement of indirect information. Simulation results show that the TLSF scheme can suppress the oscillation and damping in formation of large robot teams.
%K formation control
%K leader-following control
%K swarm robotics
%K stability
%K nonlinear
%U http://www.intechopen.com/articles/show/title/a-stable-formation-control-using-approximation-of-translational-and-angular-accelerations