Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Experimental results on pose regulation, tracking and formation control of nonholonomic robots using potential functions
Submission Author:
Josiel Gouvêa , RJ
Co-Authors:
Thales Henriques da Silva, Alessandro Zachi, Fernando Lizarralde, Josiel Gouvêa
Presenter: Josiel Gouvêa
doi://10.26678/ABCM.COBEM2017.COB17-1785
Abstract
This work describes a control strategy that forces a group of nonholonomic mobile robots to achieve a formation while tracking some desired trajectory. The scheme uses a potential function that ensures that the formation is achieved. Then, a tracking component is added to the potential function strategy to force formation group to track a desired trajectory provided by one or two virtual leaders. If two virtual leaders are used, the pose of formation will be regulated. Experimental results confirm the efficiency of the proposed control strategy.
Keywords
Potential function, Formation control, Nonholonomic robots, Trajectory Tracking, Pose regulation
