Sensors (Basel) 2021 May 31;21(11). Epub 2021 May 31.
CINVESTAV-IPN Electrical Engineering Department, Mechatronics Section, Av. I.P.N. No. 2508, Col. San Pedro Zacatenco, Mexico City 07360, Mexico.
This paper presents a navigation strategy for a platoon of non-holonomic mobile robots with a time-varying spacing policy between each pair of successive robots at the platoon, such that a safe trailing distance is maintained at any speed, avoiding the robots getting too close to each other. It is intended that all the vehicles in the formation follow the trajectory described by the leader robot, which is generated by bounded input velocities. To establish a chain formation among the vehicles, it is required that, for each pair of successive vehicles, the (i+1)-th one follows the trajectory executed by the former -th one, with a delay of τ(t) units of time. Read More