MIMC-VADOC Model for Autonomous Multi-robot Formation Control Applied to Differential Robots

被引：0
作者：
Mamani, Kevin Marlon Soza [1 ]
Ordonez, Jhon [1 ]
机构：
[1] Univ Catolica Boliviana San Pablo, Ctr Invest Desarrollo & Innovac Ingn Mecatron, La Paz, Bolivia
来源：
2022 8TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA 2022) | 2022年
关键词：
Mobile robot; trajectory control; multi-robot system; formation control; SWARM;
D O I：
10.1109/ICARA55094.2022.9738567
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The present work highlights the development of a decentralized formation control model focused on mobile differential type robots. It refers its study mainly to the control design, subsequent simulation and implementation of control systems. The control theory starts from two different robot motion models. The first is related to trajectory and position control, meanwhile the second includes multi-robot control systems, especially associated to robotic swarms and potential fields. Subsequently, a list of formation control requirements is proposed. Based on this, the potential field-based multi-robot formation control model is developed. After simulations, the global model feedback and communication systems are implemented on real differential mobile robots. Finally, the complete control system is tested and compared with other models within a controlled indoor environment.
引用
收藏
页码：118 / 124
页数：7
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