Flocking control for a group of wheeled mobile robots free of linear velocity measurements

https://doi.org/10.58571/CNCA.AMCA.2025.064

Resumen: This research proposes a control algorithm that allows a group of wheeled mobile robots to emulate the flocking behavior. The controller is designed in such a manner that linear velocity measurements are not necessary either locally or in the exchange of information between the group members. Given that in real life it is possible that not all the members of the group to have knowledge of the desired flocking velocity, we propose a distributed observer. Moreover, the proposed flocking controller works for either undirectional or bidirectional communication topologies. To analyze the stability of the flocking algorithm and distributed observer, we employ tools from linear systems theory. To demonstrate the correct functioning of the control law, experimental tests are shown.

¿Cómo citar?

Montañez-Molina, C., Pliego-Jiménez, J. & Cruz-Hernández, C. (2025). Flocking control for a group of wheeled mobile robots free of linear velocity measurements. Memorias del Congreso Nacional de Control Automático 2025, pp. 373-378. https://doi.org/10.58571/CNCA.AMCA.2025.064

Palabras clave

Flocking, mobile robot, control algorithm, graph theory, velocity tracking.

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