Abstract
In this paper we address the problem of making a group of mobile robots cooperatively track an assigned path. We consider paths described by completely arbitrarily shaped closed curves. The proposed control strategy is a fully decentralized algorithm and it does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions. Analytical proofs are provided to show the asymptotic convergence of the system to the desired behavior. Matlab simulations and experiments on real robots are described as well for validation purposes.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
