String stability of a group of nonholonomic mobile robots whose models incorporate kinematic and dynamic equations of motion

Abstract

The paper considers some control problems of multi mobile robot systems as both kinematics and dynamics are intertwined in the mathematical model of the group members. The effects of all components (wheels and platform) and kinematic constraints will be taken into account in the equations. The problems of driving the vehicle towards a desired string-like formation and the associated stability problem will be studied. Finally, demonstrations of a group of mobile robots with the augmented model will be presented.