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

被引：48

作者：

Nascimento, Tiago P. ^{[1
]}

Moreira, Antonio Paulo ^{[2
,3
]}

Scolari Conceicao, Andre G. ^{[4
]}

机构：

[1] Fed Univ Paraiba UFPB, Dept Comp Syst, Informat Ctr, Joao Pessoa, Paraiba, Brazil

[2] Univ Porto, INESC TEC, INESC Porto, P-4200465 Oporto, Portugal

[3] Univ Porto, Fac Engn, P-4200465 Oporto, Portugal

[4] Fed Univ Bahia UFBA, Polytech Sch, Dept Elect Engn, LaR Robot Lab, BR-40210 Salvador, BA, Brazil

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2013年 / 61卷 / 12期

关键词：

Multi-robot system; Formation control; Mobile robotics;

D O I：

10.1016/j.robot.2013.07.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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. (C) 2013 Elsevier B.V. All rights reserved.

引用

页码：1502 / 1515

页数：14

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