Coordinated Control Of Mobile Robots Based On Artificial Vision


  • Carlos M. Soria Universidad Nacional de San Juan Instituto de Automí¡tica Av. San Martí­n oeste 1109 5400, San Juan, Argentina
  • Ricardo Carelli Universidad Nacional de San Juan Instituto de Automí¡tica Av. San Martí­n oeste 1109 5400, San Juan, Argentina
  • Rafael Kelly Centro de Investigación Cientí­fica y de Educación Superior de Ensenada Ensenada, Baja California, 22800 México
  • Juan M. Ibarra Zannatha Laboratorio de Robótica del Departamento de Control Automí¡tico Centro de Investigación y de Estudios Avanzados Av. IPN N 2508, Lindavista, 07360 México, DF


Mobile Robots, Coordinated Robots, Vision Based Control, Artificial Vision


This work presents a control strategy for coordination of multiple robots based on artificial vision to measure the relative posture between them, in order to reach and maintain a specified formation. Given a leader robot that moves about an unknown trajectory with unknown velocity, a controller is designed to maintain the robots following the leader at a certain distance behind, by using visual information about the position of the leader robot. The control system is proved to be asymptotically stable at the equilibrium point, which corresponds to the accomplishment of the navigation objective. Experimental results with two robots, a leader and a follower, are included to show the performance of the vision-based control system.


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