Stable formation control for a team of wheeled mobile robots

FLAVIO ROBERTI; TOIBERO, J. M.; CARELLI, R.; VASSALLO, R.

Rio Gallegos

Workshop; XII Reunión de Trabajo en Procesamiento de la Información y Control; 2007

This paper presents a novel control algorithm and visual measurement for the autonomous navigation of a non-holonomic robot team while preserving a specified formation. The control errors are defined relative to the leader robot of the team in terms of the actual position of each robot and its desired position in the formation. The stability analysis as well as a robustness analysis for the proposed control system is presented. This paper also includes some experimental results to show the good performance of the proposed control system.