Bearing-Only Formation Control for Cascade Multirobots

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/5320954/figures/5320954.fig.004a.svgz" name="5320954.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Trajectory 2 of the robots</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/5320954/figures/5320954.fig.004b.svgz" name="5320954.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Time history of observation angle error</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/5320954/figures/5320954.fig.004c.svgz" name="5320954.fig.004c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Time history of direction angle error</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/5320954/figures/5320954.fig.004d.svgz" name="5320954.fig.004d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Time history of velocities of R<sub>2 </sub>and R<sub>3</sub></td></tr></table>

<div>Simulation results of trajectory 2.</div>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Bearing-Only Formation Control for Cascade Multirobots 