Robust Decentralized Supervisory Control in a Leader-Follower Configuration with Obstacle Avoidance

International audienceThis paper presents a decentralized solution to control a leader-follower formation of unicycle wheeled mobile robots allowing collision and obstacle avoidance. It is assumed that only positions and orientations of the robots can be measured and that each robot is influenced by an additive input disturbance. To guarantee the problem solution a supervisory control algorithm is designed and finite-time differentiators are used to estimate the leader velocity. The supervisor orchestrates three control algorithms responsible for the following, rendezvous and collision avoidance manoeuvres. All controls ensure a finite-time regulation for the robots orientation and a practically finite-time fulfilment of the required performance constraints