Multi-Robot Trajectory Tracking and Rendezvous Algorithm

Abstract

This paper explains mathematical framework of physical phenomenon happening in nature and social opinion dynamics. It is divided into two parts. The first part deals with design of the trajectory tracking algorithm for multiple mobile robots and in the second part rendezvous algorithm is described. Trajectory tracking algorithm is designed using leader–follower approach in which each follower robot tracks the reference trajectory generated by the leader. Rendezvous algorithm is designed by deriving consensus equation using algebraic graph theory. Condition for achieving rendezvous point is also derived. Simulation shows the effectiveness of proposed algorithm