Corresponding author: Hua Zhu, Postgraduate Student, Bauman Moscow State Technical University, Moscow, 105005, Russian Federation, e-mail: zhuhua1302@gmail.com

Received on April 25, 2016
Accepted on May 11, 2016

In this paper we present the method of control of mobile robots moving in the convoy type formation. The problem of localization of robots, using relative observations between the robots, is solved. The relative position and relative orientation are estimated using an Extend Kalman Filter. Special attention is given to obtain a follower robot motion control law along the trajectory given by the leading robot. The simulation results are also presented.
Keywords: group, mobile robots, convoy, localization, relative observations, motion control, time delay

For citation:

Zenkevich S. L., Hua Zhu. Control of a Group of Mobile Robots Moving in the Convoy Type Formation, Mekhatronika, Avtomatizatsiya, Upravlenie, 2017, vol. 18, no. 1, pp. 30—34.
DOI: 10.17587/mau.18.30-34

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