A Generic Framework for Multi-robot Formation Control

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2011

Autores

nascimento, tp (Autor) FEUP; conceicao, ags (Autor) Outra; alves, hp (Autor) Outra; fontes, fa (Autor) FEUP; moreira, ap (Autor) FEUP

Ata de Conferência Internacional

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

Páginas: 294-305

Indexação

ISI Web of Knowledge

Scopus - 2 Citações

Classificação Científica

FOS: Ciências da engenharia e tecnologias

Outras Informações

ID Authenticus: 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.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12