Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots

Michael Defoort 1 Thierry Floquet 2, 3 Annemarie Kökösy 4 Wilfrid Perruquetti 4
1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
4 LAGIS - Laboratoire d'Automatique, Génie Informatique et Signal
Abstract : This paper considers the control of a group of autonomous mobile robots. A coordinated control scheme based on a leader-follower approach is developed to achieve formation maneuvers. First and second order sliding mode controllers are proposed for asymptotically stabilizing the vehicles to a time-varying desired formation. The latter controller, based on the relative motion states, eliminates the need for measurement or estimation of the leader velocity. It enables formation stabilization using a vision system carried by the followers and ensures the collision avoidance from the initial time instance. Experimental investigation has been conducted using a test bench made of three nonholonomic mobile robots in order to demonstrate the effectiveness of the proposed strategy.
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Submitted on : Thursday, October 15, 2009 - 5:11:27 PM
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Michael Defoort, Thierry Floquet, Annemarie Kökösy, Wilfrid Perruquetti. Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots. IEEE Transactions on Industrial Electronics, Institute of Electrical and Electronics Engineers, 2008, 55 (11), pp.3944-3953. ⟨inria-00424437⟩

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