Coordinated Control Of Mobile Robots Based On 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 asymptoti- cally 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.