TY - GEN
T1 - Leader-follower formation control without information of heading angle
AU - Choi, In Sung
AU - Choi, Jong Suk
AU - Chung, Woo Jin
PY - 2012
Y1 - 2012
N2 - This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, φ)-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.
AB - This paper presents a robust formation control method independent on noise of camps sensor. There are various formation control method for multi-robot system. These methods offer great way to keep the (d, φ)-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.
UR - http://www.scopus.com/inward/record.url?scp=84874275313&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84874275313&partnerID=8YFLogxK
U2 - 10.1109/SII.2012.6427361
DO - 10.1109/SII.2012.6427361
M3 - Conference contribution
AN - SCOPUS:84874275313
SN - 9781467314961
T3 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
SP - 842
EP - 846
BT - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
T2 - 2012 IEEE/SICE International Symposium on System Integration, SII 2012
Y2 - 16 December 2012 through 18 December 2012
ER -