Controlling a Mobile Robot to Keep a Line Formation Using a Laser Scanner

This work presents an alternative for using a laser scanner to perform tasks like the relative positioning of two mobile robots, allowing obtaining a final formation. It is presented a strategy for the localization of the leader robot of the formation through the information got by the laser scanner, which is mounted in the follower robot. The paper includes an analysis of the stability of the decentralized control system proposed to establish the desired formation, as well as experimental results that show the good performance of the system and the asymptotic convergence of the formation variables to the desired values. Keywords— Mobile robots, Laser scanner, Line Formation.