Dynamic modeling and centralized formation control of mobile robots

Celso De La Cruz, Ricardo Carelli

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

94 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
Páginas3880-3885
Número de páginas6
DOI
EstadoPublicada - 2006
Publicado de forma externa
EventoIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics - Paris, Francia
Duración: 6 nov. 200610 nov. 2006

Serie de la publicación

NombreIECON Proceedings (Industrial Electronics Conference)

Conferencia

ConferenciaIECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics
País/TerritorioFrancia
CiudadParis
Período6/11/0610/11/06

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