期刊名称：International Journal of Intelligent Control and Systems
印刷版ISSN：0218-7965
出版年度：2005
卷号：10
期号：3
页码：244-250
出版社：Westing Publishing Co., Fremont
摘要：In this paper, we investigate the leader-following based formation control of nonholonomic mobile robots. We present a new kinematics model for the leader-follower system using Cartesian coordinates. Based on this new model and the direct Lyapunov method, a globally stable controller is derived for the whole system. Simulation results are included to verify the feasibility of the proposed model and controller.
