Multi-robot systems formation control with obstacle avoidance

• Type: Article in International Conference Proceedings Book
• Date: 2014

Authors

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

Conference proceedings International

Title: IFAC Proceedings Volumes (IFAC-PapersOnline)

Pages: 5703-5708

19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014

24 August 2014 through 29 August 2014

Indexing

Scopus - 8 Citations

Other information

Authenticus ID: P-00G-MT1

Abstract (EN): This paper deals with the problem of active target tracking with obstacle avoidance for multi-robot systems. A nonlinear model predictive formation control is presented which uses potential functions as terms of the cost function. These terms penalize the proximity with mates and obstacles, splitting the problem of obstacle avoidance into two repulse functions. Experimental results with real robots are presented to demonstrate the performance of the approach. © IFAC.

Language: English

Type (Professor's evaluation): Scientific