Iterative Weighted Tuning for a Nonlinear Model Predictive Formation Control

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

Pages: 2-7

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

Espinho, PORTUGAL, MAY 14-15, 2014

Indexing

ISI Web of Knowledge - 9 Citations

Scopus - 3 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6