In this paper we address the problem of making a group of mobile robots cooperatively track an assigned path. We consider paths described by com- pletely arbitrarily shaped closed curves. The proposed control strategy is a fully decentralized algorithm and it does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial poten- tial functions. Analytical proofs are provided to show the asymptotic convergence of the system to the desired behavior. Matlab simulations and experiments on real robots are described as well for validation purposes.
Closed-Curve Trajectory Tracking for Decentralized Systems of Multiple Mobile Robots / Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 1573-0409. - ELETTRONICO. - 71:1(2013), pp. 109-123. [10.1007/s10846-012-9763-9]
Closed-Curve Trajectory Tracking for Decentralized Systems of Multiple Mobile Robots
SABATTINI, Lorenzo;SECCHI, Cristian;FANTUZZI, Cesare
2013
Abstract
In this paper we address the problem of making a group of mobile robots cooperatively track an assigned path. We consider paths described by com- pletely arbitrarily shaped closed curves. The proposed control strategy is a fully decentralized algorithm and it does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial poten- tial functions. Analytical proofs are provided to show the asymptotic convergence of the system to the desired behavior. Matlab simulations and experiments on real robots are described as well for validation purposes.
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