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1 year ago in Robotics By Pooja

How should linear and angular velocities be selected for the leader and followers in a mobile robot formation control scheme?

What is the methodology for assigning linear and angular velocities to leaders and followers in a formation control strategy?

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By Pranav Answered 6 months ago

Velocities are not chosen arbitrarily but are generated by the formation control law itself. The leader's velocity is typically an external input or trajectory. Followers' velocities are calculated continuously based on the control law (e.g., feedback linearization, Lyapunov-based) to maintain the desired relative pose, ensuring stability. The key is tuning the control law's gains, not the velocities directly.

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