Abstract
The objective of this paper is to build a full-order Luenberger observer of an omnidirectional mobile robot (Robotino) modelled by bond graph. This work is done in the framework of the control and supervision of a mobile robot group formation. In the first step, the bond graph model of the robot is proposed and validated. In the second step, a full-order Luenberger observer design method for linear time invariant systems modeled by bond graph is presented, applied to a mobile robot, and extended to a group of robots. The bond graph approach is used from modeling up to building observers. This method requires structural analysis (Observability, redundancy, bond graph rank) and formal calculus (gain matrix calculus).
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