Consensus strategy applied to differential mobile robots with regulation control and trajectory tracking

Abstract

In this article, the problem of performing different tasks with a group of mobile robots is addressed. To cope with issues like regulation to a point or trajectory tracking, a consensus scheme is considered. Three topologies were tested in simulation. The first goal was to make consensus in the group of robots, after the consensus point was relocated to achieve a regulation control. The last objective was to follow a desired trajectory moving the consensus point along the predefined path. The proposal was validated through experimental test with a group of three differential mobile robots.