Iterative Weighted Tuning for a Nonlinear Model Predictive Formation Control

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2014

Autores

Nascimento, TP (Autor) Outra; Conceicao, AGS (Autor) Outra; António Paulo Moreira (Autor) FEUP

Ata de Conferência Internacional

Título: 2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014

Páginas: 2-7

IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

Espinho, PORTUGAL, MAY 14-15, 2014

Indexação

ISI Web of Knowledge - 9 Citações

Scopus - 3 Citações

Outras Informações

ID Authenticus: P-009-Q5G

DOI: 10.1109/icarsc.2014.6849754

Abstract (EN): A multi-robot system is formed when a group of robots interact with the environment as a single system. This system can also be in formation in order to accomplish tasks rather difficult or impossible to achieve with a single robot. A nonlinear model predictive formation control (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 formation controller's weight tuning in order to minimize an objective function that reflects the controller's efficiency with respect to a given criteria. Furthermore, the results of simulation and experiment with real robots are presented and discussed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6