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Leader-Follower Formation Control Based on Artificial Potential Field and Sliding Mode Control

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Intelligent Robotics and Applications (ICIRA 2017)

Abstract

This paper presents a leader-follower formation integrated control method based on artificial potential field (APF) and sliding mode control (SMC) in an unknown environment with obstacles. Firstly, the online path planning in formation control is executed via APF to find a collision-free path for leader from the initial position to the goal position. Then, the trajectory tracking controller is designed via SMC method to adjust the linear velocity and angular velocity of the followers to form and maintain the predefined formation. Finally, the effectiveness of the proposed formation integrated control method has been verified by simulation.

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Acknowledgments

This work was sponsored by the Seed Foundation of Innovation and Graduate Students in Northwestern Polytechnical University (Z2017018).

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Correspondence to Hong-an Yang .

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Wang, X., Yang, Ha., Chen, H., Wang, J., Bai, L., Zan, W. (2017). Leader-Follower Formation Control Based on Artificial Potential Field and Sliding Mode Control. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10464. Springer, Cham. https://doi.org/10.1007/978-3-319-65298-6_19

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  • DOI: https://doi.org/10.1007/978-3-319-65298-6_19

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65297-9

  • Online ISBN: 978-3-319-65298-6

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