DECENTRALIZED CONTROL OF MOBILE ROBOTS IN FORMATION
Yu. N. Zolotukhin, K. Yu. Kotov, and A. A. Nesterov
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences,
Novosibirsk, Russia, E-mail: zol@idisys.iae.nsk.su
Pages: 218-225
Abstract
A control scheme for mobile robot formation in the leader following mode is proposed. It enables to track the target and is based on using a sliding mode along the desired trajectory in the state space. Results of modeling using MATLAB/SIMULINK environment are presented. They confirm efficiency of the proposed algorithm.
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