abstract

• This paper presents a novel solution for the classical leaderfollower formation problem considering the case of nonholonomic mobile robots. A formation control strategy is proposed in a discrete-time context by considering the exact discrete-time discretization of the non-linear continuous-time kinematic model of the vehicle. The geometric formation of the robots allows us to derive an alternative model that describes the time evolution of the relative distance and angle between the robots. These variables are obtained in real-time by a vision-based localization system on board, in which the follower robot is equipped with a Kinect device, together with a recognition board mounted on the leader robot. The boundedness of the relative position error is formally proven by considering a feedback law that is delayed by one sampling period of time. Numerical simulations and real-time experiments are presented to verify the performance of the control strategy. © 2016 Author(s). Licensee InTech.

authors

• Castro-Linares R.
• Cruz-Morales R.D.
• Palacios Hernández Elvia Ruth
• Velasco-Villa M.

publication date

• 2016-01-01

published in

• International Journal of Advanced Robotic Systems  Journal

keywords

• Discrete-time; Leader-follower formation; Mobile robots; Relative distances Continuous time systems; Kinematics; Mobile robots; Control strategies; Discrete time; Leader-follower formations; Non-holonomic mobile robots; Real-time experiment; Relative distances; Relative positions; Vision based localization; Robots

Digital Object Identifier (DOI)

• 10.5772/62344

start page

end page

volume

• 13

issue

• 2