INAUT 24330
INSTITUTO DE AUTOMATICA
Unidad Ejecutora - UE
artículos
Título:
Strategy Based on Multiple Objectives and Null Space for the Formation of Mobile Robots and Dynamic Obstacle Avoidance
Autor/es:
LEICA PAULO; CHAVEZ DANILO; ROSALES ANDRÉS; FLAVIO ROBERTI; TOIBERO, J. M.; RICARDO CARELLI
Revista:
Revista Politécnica (Quito)
Editorial:
Escuela Politécnica Nacional de Quito
Referencias:
Año: 2014 vol. 33 p. 88 - 98
ISSN:
1390-0129
Resumen:
In this paper, a new algorithm for controlling mobile robot flexible formation based on multiple control objectives is presented. The strategy includes the use of null space for shape and posture control. The obstacle avoidance strategy is based on the definition of fictitious potential energy. The primary objective established is to shape control and obstacle avoidance, whereas the secondary objective includes the posture control and trajectory tracking of the robot formation. Stability analysis of the proposed control system is proven. Simulation results show the performance of the proposed controllers.
