The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Stabilization Strategy for Networked Nonholonomic Robot Formations

Arturo Gil-Pinto
Central University of Venezuela

Philippe Fraisse
University of Montpellier 2, LIRMM

We present a strategy to control formations of nonholonomic robots where the information between robots are shared over a wireless network. The trajectory planning strategy is based on a decentralized method of leader-follower approach. Each leader robot broadcast its position to its follower, then using this information the follower robot computes an optimal trajectory. Thus, the follower executes this trajectory, while computing the next feasible trajectory. We show the
trajectory planner convergence conditions even though delays are present in the broadcasting process. Also, we provide the proof of the reachability of the trajectory generation between the
current and desired position of each follower. Simulation and experimental results validate and highlight the eciency and relevance of this method.


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