Leader-Follower Formation Control Using PID Controller

Title
Leader-Follower Formation Control Using PID Controller
Authors
최인성최종석
Keywords
Formation Control; Leader-Follower; Multi-agent robot; PID controller
Issue Date
2012-10
Publisher
ICIRA(International Conference on Intelligent Robotics and Application) 2012
Citation
, 625-634
Abstract
This paper presents a robust formation control method independent on noise of compass sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, j )- formation. In real environment, however, heading angle of each robot is affected by noise of compass sensor. Because of this reason, follower can’t keep exact formation. In this paper, we suggest formation control method that uses PID controller to resolve this problem. And we also prove that PID controller is effect to reduce position error.
URI
http://pubs.kist.re.kr/handle/201004/43757
Appears in Collections:
KIST Publication > Conference Paper
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