Abstract
This paper deals with the navigation in formation of a group of mobile robots. A set of virtual targets (points) forms a virtual structure of the same shape as the desired formation. Hence, to join and to remain in this formation, each robot has only to track one of these targets. In order to track the chosen target, it has to be attainable by the robot despite its kinematic constraints. This paper studies then the maximum allowed dynamic of the virtual structure according to the kinematic constraints of the robots. Both linear and angular velocities of the targets are constrained. Moreover, depending on these velocities, some relative positions (targets) in the formation become unattainable. These positions are also defined. A stable control law allows us to attain the generated set-points. Simulation and experimental results validate the proposed contributions.
Sign-in/Register to access full text options 
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.
