Line Formation using Multi-Layer Control Scheme

被引：0

作者：

Barbosa, Joao Paulo ^{[1
]}

Rodrigues Vasconcelos, Joao Vitor ^{[1
]}

Neiva, Diego Romie ^{[1
]}

Brandao, Alexandre Santos ^{[1
]}

机构：

[1] Univ Fed Vicosa, Dept Engn Elect, Nucl Especializacao Robot, Vicosa, MG, Brazil

来源：

15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018) | 2018年

关键词：

D O I：

10.1109/LARS/SBR/WRE.2018.00023

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents a strategy to guide multiple robots in a virtual adaptable structure. The Multi-Layer Control Scheme (MLCS) is here implemented in order to guide various robots during trajectory tracking and positioning tasks. In this work, the robots are split in sets of two agents to establish several line-structure formation, which are individually controlled. The proposal is validated numerically. First, two robots in line formation perform positioning task and then they follow a circular trajectory. In the sequel, five robots generate a regular polygon, which should follow a straight-line reference. The concept of line-formation can be expanded for n-robots, only establishing and rearranging the new regular polygon, in a closed rigid structure.

引用

页码：77 / 81

页数：5

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