Control of Multiple Mobile Robots in Dynamic Formations

被引：0

作者：

Rinaldo, Guilherme ^{[1
]}

Rafikova, Elvira ^{[1
]}

Rafikov, Marat ^{[1
]}

机构：

[1] Fed Univ ABC, Ctr Engn Modeling & Social Sci, Ave Estados 5000, BR-09221017 Santo Andre, SP, Brazil

来源：

PROCEEDINGS OF DINAME 2017 | 2019年

关键词：

Multiple robot control; Leader-follower problem; SDRE control; Nonlinear control; FOLLOWER FORMATION CONTROL;

D O I：

10.1007/978-3-319-91217-2_25

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This work deals with the control of multiple mobile robots in trajectory, while maintaining a formation, through the use of State-Dependent Riccati Equation control method. Three robots with differential drive are used in a scheme in which one is considered the leader and the other two are considered followers. By changing formation parameters, this work seeks to achieve two different formations, V-shaped and Echelon formation, very common in the military field. Simulations are performed using LabVIEW, demonstrating the successful application of the control method in mobile robot tracking problems while maintaining formations.

引用

页码：359 / 369

页数：11

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