Closed-Curve Path Tracking for Decentralized Systems of Multiple Mobile Robots
In this paper we address the problem of making a group of mobile robots cooperatively track an assigned path. We consider paths described by completely arbitrarily shaped closed curves. The proposed control strategy is a fully decentralized algorithm and it does not require any global synchronization. The desired behavior is obtained by means of some properly designed artificial potential functions. Analytical proofs are provided to show the asymptotic convergence of the system to the desired behavior. Matlab simulations and experiments on real robots are described as well for validation purposes.
multi-robot systems cooperative path tracking multi-robot coordination