Controle de Robôs Móveis para Navegação em Formação Linear Usando um Sensor de Varredura Laser

ALEXANDRE BRANDAO; JOSÉ TORRES; MARIO SARCINELLI; RICARDO CARELLI; TEODIANO FREIRE BASTOS

Florianópolis, SC, Brasil

Congreso; VIII Simpósio Brasileiro de Automação Inteligente, SBAI; 2007

Asociación Brasilera de Automática

This work presents an alternative for using a laser scanner to perform tasks like the relative positioning of two mobile robots, allowing obtaining a ¯nal formation. It is presented a strategy for the localization of the leader of the formation through the information got by the laser scanner, which is mounted in the follower robot. The paper includes an analysis of the stability of the decentralized control system proposed to establish the desired formation, as well as experimental results that show the good performance of the system and the asymptotic convergence of the formation variables to the desired values.