Leader-Follower Formation Control for Mobile Robots Based on Master-Slave Approach

Resumen: The problem of decentralized formation control of a group of wheeled mobile robots is addressed in this paper. In order to cope with the formation control problem a strategy based on a master-slave scheme is adopted. It is assumed that only position measurements are available. Therefore, a nonlinear control algorithm in combination with a velocity observer is proposed. Simulation results are presented to show the performance of the proposed algorithm.

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Rigoberto Martínez-Clark, Javier Pliego-Jiménez & César Cruz-Hernandez. Leader-Follower Formation Control for Mobile Robots Based on Master-Slave Approach. Memorias del Congreso Nacional de Control Automático, pp. 158-163, 2018.

Palabras clave

Formation control, mobile robots, nonlinear control

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