标题：Formation control for wheeled mobile robots based on consensus protocol
作者：Feng, Shulin ;Zhang, Huanshui
作者机构：[Feng, Shulin ;Zhang, Huanshui ] School of Control Science and Engineering, Shandong University, Jinan 250061, China
会议名称：2011 International Conference on Information and Automation, ICIA 2011
会议日期：6 June 2011 through 8 June 2011
来源：2011 IEEE International Conference on Information and Automation, ICIA 2011
摘要：In this paper, consensus protocol is presented for formation control of the mobile robots. In allusion to the mobile robot platform, a local computer which is used as controller and the AmigoBot mobile robots set up a wireless local area network (WLAN), transmitting data by means of wireless communication to implement the remote control of robots. The kinematics mathematical model and the position and orientation error model of the mobile robot is presented, making use of consensus protocol to implement the column and triangular formation control. Simulation experiment and real robot experiment results demonstrate that the proposed control algorithm is feasible and effective. © 2011 IEEE.