CONTROL OF MULTI-MOBILE AGENT INTERCONNECTED DYNAMIC OF MOTION

This work treats the dynamic control of multi-mobile robot formation taking robot dynamic interconnections. The dynamic of each agent is modeled by a nonlinear second order differential equation, and its behavioral control will depends on attractive or repulsive interconnection function. The interconnection dynamic function is built around certain estimated parameters, and taking the dynamic of agents in neighbor. Once the target/objectif is fixed, the formation convergence in presence of known obstacles is obtained through a stabilizing nonlinear sliding mode controller, and under the bound of the interconnection parameters. Some bio-inspired examples can be concerned by our modeling and control approaches, one thinks to the autonomy of a herd of sheep in displacement, a flock of birds or a school of fish, and in generally the problem of swarms.