Stability analysis of mobile robot formations based on synchronization of coupled oscillators

摘要

Abstract: The present paper deals with mobile robot circular formations realized by a simple control law. This law is established by utilizing synchronization of coupled limit-cycle oscillators. The stability of formations is analyzed, and the analytical results give a simple procedure for designing a control law. This procedure allows us to choose a desired circular formation. Furthermore, the analytical results guarantee that we can specify any radius of circular formations. The results are verified by some numerical examples.