A Nonlinear Control Applied to Team Formation Based on Omnidirectional Vision

Abstract

In this work a mobile robot cooperation strategy based on computational vision is presented. Such strategy can be applied to a mobile robot team formed by simple and cheap robots and a leader robot with more computational power. The leader has an omnidirectional visual system and uses color segmentation to obtain the pose of the follower robots. This visual information is used as visual feedback to a nonlinear stable controller that manages team formation. Simulations and tests were run and current results are encouraging