Dynamic modeling and centralized formation control of mobile robots

被引：0
作者：
De la Cruz, Celso [1 ]
Carelli, Ricardo [1 ]
机构：
[1] Univ Nacl San Juan, Inst Automat, 1109 Libertador San Martin St, RA-5400 San Juan, Argentina
来源：
IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 | 2006年
关键词：
formation control; dynamic model; non-holonomic mobile robots; nonlinear systems;
D O I：
暂无
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 work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of the model is also performed. The resulting robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a centralized formation control. The controller can be applied both to positioning and to tracking desired robot formations. Experimental results validate the theoretical aspects.
引用
收藏
页码：1543 / +
页数：2
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