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formation states

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Formation control and trajectory tracking of mobile robotic systems – a Linear Algebra approach
Andrés Rosales, Gustavo Scaglia, Vicente Mut, Fernando di Sciascio
Journal:

Robotica / Volume 29 / Issue 3 / May 2011

Published online by Cambridge University Press:

05 May 2010, pp. 335-349
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A novel approach for trajectory tracking of a mobile-robots formation by using linear algebra theory and numerical methods is presented in this paper. The formation controller design is based on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots is able to change its configuration (shape and size) and follow different trajectories in a precise way, minimizing the tracking and formation errors.