Modeling and Control of Cooperative 3-Wheeled Mobile Robots with Decentralized Passive Velocity Field Control

J.H. Suh, J.W. Lee, and K.S. Lee (Korea)


Decentralized control, Cooperative mobile robot, Passivevelocity field control (PVFC), Nonholonomic.


This paper addresses the method of modeling and control of cooperative mobile robots to apply a decentralized passive velocity field control. The considered subsystems are under nonholonomic constraints and the cooperative mobile robot systems convey a common rigid object in a horizontal plain. The effectiveness of proposed control method is examined by experimental results and the constructed experimental system consists of two Noman Scouts and an object which is a wooden plate.

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