Mobile robots movement in a given formation

U ovom radu izvesti ćemo algoritam za gibanje u formaciji dvaju edukativnih mobilnih robota konstruiranih na Katedri za strojarsku automatiku. Potencijalno rješenje problema formacijskog gibanja mobilnih robota je osnova za efikasnije i učinkovitije obavljanje mnogih poslova . Kretanje vozila u formacijama je već dulje vrijeme zanimljivo područje proučavanja jer pronalazi potencijalnu primjenu u vojsci, prometu i poljoprivredi. O razvijanju područja gibanja vozila u formacijama najbolje govori project SARTRE ( Safe Road Trains for the Environmnent) čiji je cilj omogoućiti gibanje osobnih automobile u formaciji na autocestama. Projekt je pokrenut 2009. godine uz pomoć Europske unije. Vrijednost samog projekta iznosi 6.4 milijuna eura. Princip tehnologije slijeđenja u današnjem svijetu vidimo sve više. U radu su pokrivene također i teorijske osnove ostvarivanja gibanja u formaciji te su isti primjeri prikazani u stvarnom svijetu.In this paper, we will perform an algorithm for the motion in the formation of two educational mobile robots constructed at the Department of Mechanical Automation. A potential solution to the formation motion problem of mobile robots is the basis for more efficient and effective performance of many jobs. The movement of vehicles in formations has been an interesting area of study for a long time because it finds potential applications in the military, transport and agriculture. The SARTRE (Safe Road Trains for the Environment) project, whose goal is to enable the movement of passenger cars in formation on highways, best describes the development of the area of vehicle movement in formations. The project was launched in 2009 with the help of the European Union. The value of the project itself is 6.4 million euros. We are seeing more and more of the principle of tracking technology in today's world. The paper also covers the theoretical foundations of movement in formation, and the same examples are presented in the real world