Tree organization method for structuring cluster space-based rover formations with applications to multi-object transportation

MAURO BAQUERO-SUAREZ; IGNACIO MAS; JUAN I. GIRIBET

Cordoba

Congreso; International Symposium on Multibody Systems and Mechatronics; 2020

 In this work, concepts of cluster space approach are extended througha novel formulation, namely Tree Organization Method (TOM), to systematicallyarrange formations of mobile robots. TOM consists in analyzing the n-robot clusteras an open kinematic chain with multiple branches, where robots remain linked astheymoveaccordingtothisvirtualmechanism,byensuringthespecifiedformation?sgeometryduringallthenavigationtime.TOMallowstoeasilygeneratesynchronizedreference trajectories for all robots involved in the formation, and this formulationis applied to the particular case of an arranged 7-robot cluster tasked to transport3 spheres along a predefined trajectory. This scenario is recreated in a realisticcooperative simulation interfacing MSC ADAMS and MATLAB, where multi-bodydynamic modeling, cluster specification under TOM and robust tracking controllersare developed for this multi-robot application