SYNCHRONIZATION STRATEGY FOR DIFFERENTIALLY DRIVEN MOBILE ROBOTS: DISCRETE-TIME APPROACH

Francisco Rosales-Hernández, Martín Velasco-Villa, Rafael Castro-Linares, Basilio del Muro-Cuéllar, and Miguel Ángel Hernández-Pérez

Keywords

Mobile robots, discretetime, synchronization

Abstract

Based on a discrete-time approach, this paper considers the synchronization problem of a group of n differentially driven mobile robots. A discrete-time model, obtained by the exact discretization of the original continuous-time kinematic model is considered. The synchronization problem considers the formation of a group of robots together with the tracking of a desired trajectory. To solve the problem, an approximate state feedback is proposed which is based on a one step retarded time. Also, it is formally proven that, for the resultant closed-loop system, the involved error signals exponentially converge to a neighbourhood of the origin. The performance of the synchronization strategy is evaluated by real-time experiments with the help of a group of three mobile robots and an indoor absolute localization system based on artificial vision.

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