Centralized Trajectory Tracking Controller for a Multi-robot System

被引：0
|
作者：
Beltran, Christian [1 ]
Cabrera, Andres [1 ]
Delgado, Gabriel [1 ]
Iturralde, Daniel [1 ]
机构：
[1] Univ Azuay, Cuenca, Ecuador
来源：
APPLIED TECHNOLOGIES (ICAT 2019), PT III | 2020年 / 1195卷
关键词：
Trajectory tracking; Velocity obstacle; Centralized system; Multi-robot system; Differential kinematics; Mobile robot;
D O I：
10.1007/978-3-030-42531-9_27
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
This work shows the development and implementation of a centralized trajectory tracking system for multi-robot systems, which is based on a kinematic trajectory controller for unicycle robots and subsequently transforming it to differential kinematics, a wireless network is also created for the communication of the master with the slave robots, additionally a method of prevention and avoidance of collisions between the robots is implemented.
引用
收藏
页码：331 / 345
页数：15
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