Abstract
In this paper, we consider the problem of controlling an autonomous mobile robot in a homogeneous longitudinal platoon of mobile robots without inter-robot communication using constant spacing policy. The proposed decentralized control requires only information for the separation distance to the preceding robot and the estimate of its velocity obtained from an adaptive part of the controller. The stability of the designed control system is analyzed under assumption of time-varying and constant velocity of the preceding robot. Numerical simulations and experiments using differential-drive mobile robots are performed to validate the analytically obtained results, as well to demonstrate the effectiveness of the synthesized control scheme.
Sign-in/Register to access full text options 
Free) 
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 call
