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Switching control and modeling of mobile robots formation

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4 Author(s)
Bravo, F. ; Dept. of Electron., Pontificia Univ. Javeriana, Bogotá, Colombia ; Patino, D. ; Melo, K. ; Parra, C.

This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the continuous and discrete dynamics of the leader-following approach, we model the formation control as a switching control. This allows any robot to be part of the formation as leader or follower any time. The control law is validated through simulation.

Published in:

Robotics Symposium, 2011 IEEE IX Latin American and IEEE Colombian Conference on Automatic Control and Industry Applications (LARC)

Date of Conference:

1-4 Oct. 2011