FORMATION CONTROL OF MOBILE ROBOTS UNDER ROS

被引：0
作者：
Besseghieur, K. [1 ]
Kaczmarek, W. [1 ]
Panasiuk, J. [1 ]
Prusaczyk, P. [1 ]
机构：
[1] Millitary Univ Technol, Fac Mechatron & Aerosp, Kaliskiego 2, PL-00908 Warsaw, Poland
来源：
ENGINEERING MECHANICS 2017 | 2017年
关键词：
Mobile robots; Formation control; Robot Operating System (ROS);
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a new framework is proposed for implementing the formation control laws on nonholonomic mobile robots based on ROS (Robot Operating System). To achieve the desired formation, mobile robots need to localize themselves within the environment, to communicate their positions to each other and to measure their corresponding velocities. ROS provides some convenient packages that make the formation problem easier to solve. We describe each of these packages and how they can be used to solve the formation control problem under ROS.
引用
收藏
页码：138 / 141
页数：4
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