Centralizad formation control of non-holonomic mobile robots

RICARDO CARELLI; CELSO DE LA CRUZ; FLAVIO ROBERTI

Rio Cuarto, Córdoba

Simposio; XI Reunión de Trabajo en Procesamiento de la Información y Control, RPIC05; 2005

Universidad Nacional de Rio Cuarto

This work presents a control algorithm for a group of non-holonomic mobile robots that must attain coordinately a specific formation, which can be fixed or moving in the work space. The control error is defined in terms of location, size and shape of the constellation of poiints placed by the robots and the constellation of objective points. The stability analysis of the proposed control system is including along with the results from simulation and laboratory experiences which validate the good performance of this robot formation control system.