A Generic Framework for Multi-robot Formation Control

• Type: Article in International Conference Proceedings Book
• Date: 2011

Authors

nascimento, tp (Author) FEUP; conceicao, ags (Author) Other; alves, hp (Author) Other; fontes, fa (Author) FEUP; moreira, ap (Author) FEUP

Conference proceedings International

Title: RoboCup 2011: Robot Soccer World Cup XV [papers from the 15th Annual RoboCup International Symposium, Istanbul, Turkey, July 2011]

Pages: 294-305

Indexing

ISI Web of Knowledge

Scopus - 2 Citations

Scientific classification

FOS: Engineering and technology

Other information

Authenticus ID: P-008-5XW

DOI: 10.1007/978-3-642-32060-6_25

Abstract (EN): This paper describes a novel approach in formation control for mobile robots. A Nonlinear Model Predictive Controller (NMPC) is used to control the formation of a heterogeneous mobile robots group. The desired formation is formed by an holonomic robot and a nonholonomic robot. The same nonlinear controller is used in both robots with the same cost function. The details of the controller structure are presented in order to track a fixed target departing from different positions in the field avoiding collisions with each other. A soccer robot competition field is used to present the simulations to evaluate the performance of the controller. © 2012 Springer-Verlag Berlin Heidelberg.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12