Decentralized control in alignment motion of mobile robots network

In this paper we develop a decentralized control law for alignment motion of mobile robots network (MRN) based on consensus algorithm. The model of differential-driven MRN is presented including individual and group kinematics, information flow structure and group behavior. The feedback linear consensus algorithm on weighted digraph is discussed and then applied to the design of the decentralized control law while motion limits are considered. The local controller on a robot regulates its own orientation by using states of its neighbors specified in the information flow structure, and then the grouppsilas coordinated alignment behavior emerges. Finally, experimental simulation shows the effectiveness of control law and effects of information flow structure on the group behavior.