INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Dynamic modeling and centralized formation control of mobile robots
Autor/es:
CELSO DE LA CRUZ; ¨RICARDO CARELLI
Lugar:
Paris, France
Reunión:
Conferencia; The 32th. Annual Conference of the IEEE Industrial Electronics Society, IECON´2006; 2006
Institución organizadora:
IEEE
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.
