Multi-robot nonlinear model predictive formation control: Moving target and target absence

• Type: Article in International Scientific Journal
• Date: 2013

Authors

António Paulo Moreira (Author) FEUP; Tiago Nascimento (Author) Other; André Scolari Conceição (Author) Other

Journal

Title: Robotics and Autonomous Systems

Vol. 61 No. 2

Pages: 1502-1515

ISSN: 0921-8890

Publisher: Elsevier

Indexing

ISI Web of Knowledge - 40 Citations

ISI Web of Science

Scopus - 49 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

CORDIS: Technological sciences > Engineering > Electrical engineering

Other information

Authenticus ID: P-006-JAZ

DOI: 10.1016/j.robot.2013.07.005

Abstract (EN): This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target's absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 14