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Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

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4 Author(s)
Defoort, M. ; Dept. of Syst. Design Eng., Keio Univ., Yokohama ; Floquet, T. ; Kokosy, A. ; Perruquetti, W.

This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding-mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy.

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Industrial Electronics, IEEE Transactions on  (Volume:55 ,  Issue: 11 )