Formation Control and Trajectory Tracking of Mobile Robots

K.Yu. Kotov, Y.N. Zolotukhin, and A.A. Nesterov (Russia)


Formation control, trajectory tracking, sliding mode


In this paper, we introduce a control scheme for mobile robots formation in leader following mode, allowing to track the target that is based on the use of a sliding mode along the desired trajectory in the state space. We show that the proposed algorithm provides the fulfilment of sliding mode conditions. The artificial potential func tions are used for calculating the vehicle course. It allows to exclude the collisions of robots in formation and colli sions with obstacles. Thus, the uniformity of the system structure is maintained for all members of the group that provides their replacement in case of a breakdown.

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