Formation control and trajectory tracking of mobile robotic systems - a Linear Algebra approach

被引：33
作者：
Rosales, Andres [1 ]
Scaglia, Gustavo [1 ]
Mut, Vicente [1 ]
di Sciascio, Fernando [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat INAUT, San Juan, Argentina
来源：
ROBOTICA | 2011年 / 29卷
关键词：
Dynamic model; Formation states; Linear algebra; Multi-robot system; Numerical methods; Trajectory tracking; OBSTACLE AVOIDANCE; SCHEME;
D O I：
10.1017/S0263574710000068
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A novel approach for trajectory tracking of a mobile-robots formation by using linear algebra theory and numerical methods is presented in this paper. The formation controller design is based on the formation states concept and the dynamic model of a unicycle-like nonholonomic mobile robot. The proposed control law designed is decentralized and scalable. Simulations and experimental results confirm the feasibility and the effectiveness of the proposed controller and the advantages of using the dynamic model of the mobile robot. By using this new strategy, the formation of mobile robots is able to change its configuration (shape and size) and follow different trajectories in a precise way, minimizing the tracking and formation errors.
引用
收藏
页码：335 / 349
页数：15
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