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Leonardo A. Fagundes-Junior
Department of Informatics, Federal University of Viçosa, MG
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Denise Cristina H. de Freitas
Department of Electrical Engineering, Federal University of Viçosa, MG
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Mário Sarcinelli-Filho
Department of Electrical Engineering, Federal University of Espírito Santo, ES
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Alexandre S. Brandão
Department of Electrical Engineering, Federal University of Viçosa, MG
Keywords:
Robots Cooperation, Decentralized Control, Navigation, Line Structure
Abstract
This work describes a control scheme proposed for guiding a leader-follower formation of mobile robots. In our approach, there is no information sharing, emphasizing a decentralized approach. The follower robot uses a laser scanner mounted on it to get and estimate information of its leader, such as its location and velocities. The proposed strategy can be applied in scenarios with several agents, in the possibility of having several leaders and also several followers. To validate this proposal, four robots are used, first in a diamond-shaped formation with one leader and three followers; then in a line-shaped formation, containing three leaders and three followers. The system stability can be verified through the asymptotic convergence of the formation variables to the desired values during the experiments, which is in accordance with the theoretical analysis performed in the controller design.
