Leader-Follower Formation of Mobile Robots on a Mobile Axis System

Resumen: This work presents the methodology to obtain a kinematic model of a leader-follower formation of mobile robots of the type 2.0, without the need to use a global reference system, to obtain the position and orientation of the leading robot with respect to the moving axes of the follower robot. A control strategy is presented as a solution to the problem of following the trajectory in a leaderfollower formation, and an analysis of the convergence of the states of the system at the origin, by means of Lyapunov techniques. Finally, through numerical simulations, the evaluation of the training strategy and its performance under the developed control scheme is presented. 

¿Cómo citar?

Itan Zoali Maruri López, Martin Velasco-Villa & Alejandro Rodriguez-Angeles. Leader-Follower Formation of Mobile Robots on a Mobile Axis System. Memorias del Congreso Nacional de Control Automático, pp. 1-6, 2020.

Palabras clave

Ejes moviles, robots moviles, formacion lider-seguidor, seguimiento de trayectoria, distancias relativas, marcos no inerciales

• R. W. Brockett. Asymptotic stability and feedback stabilization. In Differential Geometric Control Theory, pages 181–191. Birkhauser, 1983.
• Raul Dali Cruz-Morales, Martin Velasco-Villa, and Alejandro Rodriguez-Angeles. Chain formation control for a platoon of robots using time-gap separation. International Journal of Advanced Robotic Systems, 15 (2), 2018.
• Carlos Canudas de Wit, Georges Bastin, and Bruno Siciliano. Theory of Robot Control. Springer-Verlag, Berlin, Heidelberg, 1st edition, 1996. ISBN 3540760547.
• E. Guizzo. Three engineers, hundreds of robots, one warehouse. IEEE Spectrum, 45(7):26–34, 2008.
• Marcos Infante, Raul Cruz-Morales, M. Velasco-Villa, and Alejandro Rodrguez-Angeles. Formación líder- seguidor para robots diferenciales con parámetros de seguimiento variables. 2019.
• D. Jia, K. Lu, J. Wang, X. Zhang, and X. Shen. A survey on platoon-based vehicular cyber-physical systems. IEEE Communications Surveys Tutorials, 18(1):263– 284, 2016.
• Hassan K Khalil. Nonlinear systems; 3rd ed. PrenticeHall, Upper Saddle River, NJ, 2002.
• A. Loria, J. Dasdemir, and N. Alvarez Jarquin. Leader–follower formation and tracking control of mobile robots along straight paths. IEEE Transactions on Control Systems Technology, 24(2):727–732, 2016.
• V. Milanés, S. E. Shladover, J. Spring, C. Nowakowski, H. Kawazoe, and M. Nakamura. Cooperative adaptive cruise control in real traffic situations. IEEE Transactions on Intelligent Transportation Systems, 15 (1):296–305, 2014.
• R. M. Murray and S. S. Sastry. Nonholonomic motion planning: steering using sinusoids. IEEE Transactions on Automatic Control, 38(5):700–716, 1993.
• Paniagua-Contro, E. G. Hernandez-Martinez, O. González-Medina, J. González-Sierra, J. J. Flores Godo, E. D. Ferreira-Vazquez, and G. Fernandez Anaya. Extension of leader-follower behaviours for wheeled mobile robots in multirobot coordination. Mathematical Problems in Engineering, page 16, 2019. doi: https://doi.org/10.1155/2019/4957259.
• D. Tilbury, R. M. Murray, and S. Shankar Sastry. Trajectory generation for the n-trailer problem using goursat normal form. IEEE Transactions on Automatic Control, 40(5):802–819, 1995.
• H. Wang, D. Guo, X. Liang, W. Chen, G. Hu, and K. K. Leang. Adaptive vision-based leader–follower formation control of mobile robots. IEEE Transactions on Industrial Electronics, 64(4):2893–2902, 2017.