KIEE - The Transactions of the Korean Institute of Electrical Engineers

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The Transactions of the Korean Institute of Electrical Engineers

The Transactions of the Korean Institute of Electrical Engineers

ISO Journal TitleTrans. Korean. Inst. Elect. Eng.

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Title	Formation Control of Mobile Robot for Moving Object Tracking
Authors	오영석(Oh, Young-Suk) ; 이충호(Lee, Chung-Ho) ; 박종훈(Park, Jong-Hun) ; 김진환(Kim, Jin-Hwan) ; 허욱열(Huh, Uk-Youl)
DOI	https://doi.org/10.5370/KIEE.2011.60.4.856
Page	pp.856-861
ISSN	1975-8359
Keywords	Mobile robot ; Leader-follower formation control
Abstract	The mobile robot controller is designed to track the target and to maintain the formation at the same time. Formation control is included in mobile robot controller by extending the trajectory tracking algorithm. The dynamic model of mobile robot is used with kinematic model considering the practical physical parameters of mobile robot. The dynamic model of mobile robot transforms velocity control input of kinematic model into torque control input which is the practical control input of mobile robot. Formation controller of mobile robot is designed to satisfy Lyapunov stability by backstepping method. The designed formation controller is applied to the mobile robot for various target movements and simulated to confirm the Lyapunov stability.

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