Nonlinear Model Predictive Formation Control: An Iterative Weighted Tuning Approach

• Type: Article in International Scientific Journal
• Date: 2015

Authors

Nascimento, TP (Author) Other; Costa, LFS (Author) Other; Conceicao, AGS (Author) Other; António Paulo Moreira (Author) FEUP

Journal

Title: Journal of Intelligent and Robotic Systems: Theory and Applications

Vol. 80

Pages: 441-454

ISSN: 0921-0296

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 6 Citations

Scopus - 11 Citations

Other information

Authenticus ID: P-00G-244

DOI: 10.1007/s10846-015-0183-5

Abstract (EN): A nonlinear model predictive formation controller (NMPFC) was used to converge a group of middle sized mobile soccer robots towards a desired target using the concept of active target tracking. This paper presents a novel approach on the formation controller's weight tuning in order to minimize an objective function that reflects the controller's efficiency with respect to a given criteria. This method is here called Iterative Weight Tuning (IWT). In this paper the effectiveness from the proposed method is shown by the results of simulations and experiment with real robots, compared to the tuning performed using genetic algorithms approach. The results demonstrated that the IWT method was successful in achieving a better set of weights that influenced the formation controller to converge the robots into formation in a better fashion regarding the agents' objective function.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 14