Formation Control and Distributed Goal Assignment for Multi-Agent Non-Holonomic Systems
This paper presents control algorithms for multiple non-holonomic mobile robots moving in formation. Trajectory tracking based on linear feedback control is combined with inter-agent collision avoidance. Artificial potential functions (APF) are used to generate a repulsive component of the control....
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-03-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/9/7/1311 |