Formation Tracking with Orientation Convergence for Groups of Unicycles

Formation Tracking with Orientation Convergence for Groups of Unicycles

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This paper presents three trajectory tracking control strategies for unicycle-type robots based on a leader-followers scheme.The leader robot converges asymptotically to a smooth trajectory, while the follower robots form an undirected open-chain configuration at the same time.It is also Spacecraft shown that the orientation angles of all the robots converge to the same value.

The control laws are based on a dynamic extension of the kinematic model of each robot.The output function to be controlled is the midpoint of the wheel axis of every robot.This choice leads to an ill-defined control law when the robot is at rest.

To avoid such singularities, a complementary control law is enabled Wooden Dollhouse Accessories momentarily when the linear velocity of the unicycles is close to zero.Finally, numerical simulations and real-time experiments show the performance of the control strategies.