INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Hybrid formation control approach for non-holonomic mobile robots
Autor/es:
MARCOS TOIBERO; FLAVIO ROBERTI; RICARDO CARELLI; MARIO SARCINELLI; PAOLO FIORINI
Lugar:
Rio Gallegos, Santa Cruz
Reunión:
Simposio; Reunión de Procesamiento de la Información y Control, RPIC; 2007
Institución organizadora:
Universidad Nacional de la Patagonia Austral
Resumen:
This paper presents a hybrid formation controller approach for non-holonomic mobile robots. This approach is based on the stable switching between a stable leader-following formation controller and an orientation controller. The switching attempts to maintain low values of formation errors during specific leader movements that otherwise will produce a significant increment on such errors. Experimental results on commercial unicycle-like mobile robots are provided to show the feasibility and performance of the proposed control strategy.
