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Formation control and trajectory tracking of mobile robotic systems – a Linear Algebra approach

Published online by Cambridge University Press:  05 May 2010

Andrés Rosales ,
Gustavo Scaglia ,
Vicente Mut  and
Fernando di Sciascio
Andrés Rosales*
Affiliation:
Instituto de Automática (INAUT). Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina
Gustavo Scaglia
Affiliation:
Instituto de Automática (INAUT). Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina
Vicente Mut
Affiliation:
Instituto de Automática (INAUT). Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina
Fernando di Sciascio
Affiliation:
Instituto de Automática (INAUT). Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste) – J5400ARL, San Juan, Argentina
*
*Corresponding author. E-mail: androsaco@gmail.com
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Summary

A novel approach for trajectory tracking of a mobile-robots formation by using linear algebra theory and numerical methods is presented in this paper. The formation controller design is based on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots is able to change its configuration (shape and size) and follow different trajectories in a precise way, minimizing the tracking and formation errors.

Keywords

Dynamic modelFormation statesLinear algebraMulti-robot systemNumerical methodsTrajectory tracking

Information

Type
Article
Information
Robotica , Volume 29 , Issue 3 , May 2011 , pp. 335 - 349
Copyright
Copyright © Cambridge University Press 2010

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