TY - JOUR
T1 - Leader-Follower Power-based Formation Control Applied to Differential-drive Mobile Robots
AU - Sanchez-Sanchez, A. G.
AU - Hernandez-Martinez, E. G.
AU - González-Sierra, J.
AU - Ramírez-Neria, M.
AU - Flores-Godoy, J. J.
AU - Ferreira-Vazquez, E. D.
AU - Fernandez-Anaya, G.
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive licence to Springer Nature B.V.
PY - 2023/1
Y1 - 2023/1
N2 - This work studies the power-based formation control for a set of differential-drive mobile robots, as an extension of the traditional distance-based formation control schemes. The possible measurements of the Received Signal Strength Indicator (RSSI) coupled with the non-omnidirectional radiation pattern shape of their antennas are used as a feedback signal. Due to the non-holonomic restriction in the kinematic model, a switched control scheme is designed with two control laws avoiding singularities and a smooth transition between the control inputs. The approach is the base for the coverage control needed for mobile sensor networks where the wireless nodes installed at the top of the robots must converge to desired power level values. Also, the RSSI measurement can be considered as an alternative to inter-robot distances avoiding the use of traditional sensors like LiDAR or onboard cameras. The approach is validated by an experimental setup.
AB - This work studies the power-based formation control for a set of differential-drive mobile robots, as an extension of the traditional distance-based formation control schemes. The possible measurements of the Received Signal Strength Indicator (RSSI) coupled with the non-omnidirectional radiation pattern shape of their antennas are used as a feedback signal. Due to the non-holonomic restriction in the kinematic model, a switched control scheme is designed with two control laws avoiding singularities and a smooth transition between the control inputs. The approach is the base for the coverage control needed for mobile sensor networks where the wireless nodes installed at the top of the robots must converge to desired power level values. Also, the RSSI measurement can be considered as an alternative to inter-robot distances avoiding the use of traditional sensors like LiDAR or onboard cameras. The approach is validated by an experimental setup.
KW - Differential-drive mobile robots
KW - Formation control
KW - Leader-follower schema
KW - RSSI
UR - http://www.scopus.com/inward/record.url?scp=85145616459&partnerID=8YFLogxK
U2 - 10.1007/s10846-022-01796-w
DO - 10.1007/s10846-022-01796-w
M3 - Artículo
AN - SCOPUS:85145616459
SN - 0921-0296
VL - 107
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 1
M1 - 6
ER -