Switching control and modeling of mobile robots formation

F. Bravo, D. Patino, K. Melo, C. Parra

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

4 Citas (Scopus)

Resumen

This paper presents the design of a decentralized cooperative control law, based on a leader-follower approach. This control law generates formation trajectories that should follow each mobile robot to establish and maintain a specific geometry formation while the robots formation moves along a predefined trajectory. By taking advantage of the continuous and discrete dynamics of the leader-following approach, we model the formation control as a switching control. This allows any robot to be part of the formation as leader or follower any time. The control law is validated through simulation.

Idioma originalInglés
Título de la publicación alojada2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings
DOI
EstadoPublicada - 2011
Evento2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Bogota, D.C., Colombia
Duración: 01 oct. 201104 oct. 2011

Serie de la publicación

Nombre2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011 - Conference Proceedings

Conferencia

Conferencia2011 IEEE 9th Latin American Robotics Symposium and IEEE Colombian Conference on Automatic Control, LARC 2011
País/TerritorioColombia
CiudadBogota, D.C.
Período01/10/1104/10/11

Huella

Profundice en los temas de investigación de 'Switching control and modeling of mobile robots formation'. En conjunto forman una huella única.

Citar esto