期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2016
卷号：13
期号：2
页码：46
DOI：10.5772/62344
语种：English
出版社：SAGE Publications
摘要：This paper presents a novel solution for the classical leader-follower formation problem considering the case of nonholonomic mobile robots. A formation control strategy is proposed in a discrete-time context by considering the exact discrete-time discretization of the non-linear continuous-time kinematic model of the vehicle. The geometric formation of the robots allows us to derive an alternative model that describes the time evolution of the relative distance and angle between the robots. These variables are obtained in real-time by a vision-based localization system on board, in which the follower robot is equipped with a Kinect device, together with a recognition board mounted on the leader robot. The boundedness of the relative position error is formally proven by considering a feedback law that is delayed by one sampling period of time. Numerical simulations and real-time experiments are presented to verify the performance of the control strategy.
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