Analysis on nonlinear feedback controls for differential mobile robots and its application to multi-robot formation control - part one

Abstract

This is the first part of the whole paper and in this part, characteristics of two similar nonlinear feedback control laws of differential mobile robots were investigated in a comparative framework. First evolutions of robot's heading under those two controls are studied. Then uniqueness of robot's trajectory with respect to gain ratio and characteristics of trajectory curvature are revealed. For the first time, the concept of ldquocritical gain ratiordquo is proposed. Simulation results are also presented.