|dc.description.abstract||In recent years, there has been a considerable growth in applications of
multi-robot systems as opposed to single-robot systems. This thesis
presents our proposed solutions to a formation control problem in
which mobile robots are required to create a desired formation shape
and track a desired trajectory as a whole.
In the first instance, we study the formation control problem for unicycle
mobile robots. We propose two control algorithms based on a
cascaded approach: one based on a kinematic model of a robot and
the other based on a dynamic model. We also propose a saturated
controller in which actuator limitations are explicitly accounted for.
To demonstrate how the control algorithms work, we present an extensive
simulation and experimental study.
Thereafter we move on to formation control algorithms in which the
coordination error is explicitly defined. Thus, we are able to give conditions
for robots keeping their desired formation shape without necessarily
tracking the desired trajectory. We also introduce a controller
in which both trajectory tracking and formation shape maintenance
are achieved as well as a saturated algorithm. We validate the applicability
of the introduced controllers in simulations and experiments.
Lastly, we study the formation control problem for car-like robots. In
this case we develop a controller using the backstepping technique.
We give conditions for robots keeping their desired formation shape
while failing to track their desired trajectories and present simulation
results to demonstrate the applicability of the proposed controller||en_US