TY - GEN
T1 - Formation control of heterogeneous robots using distance and orientation
AU - Hernandez-Martinez, E. G.
AU - Ferreira-Vazquez, E. D.
AU - Lopez-Gonzalez, A.
AU - Flores-Godoy, J. J.
AU - Fernandez-Anaya, G.
AU - Paniagua-Contro, P.
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/10
Y1 - 2016/10/10
N2 - This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The formation scheme becomes a decentralized control setup in robots equipped with local sensors of distance and orientation. The control approach can be extended to the case of kinematic and dynamical models of nonholonomic robots applying an appropriated input-output linearization. It enables the possibility to combine heterogeneous robots as shown by numerical simulations using the projection in the 2D plane of multi-rotor Unmanned Aerial Vehicles (UAV's), unicycle-type and omnidirectional wheeled mobile robots. Also, an experiment with these real wheeled mobile robots is presented.
AB - This paper proposes a planar formation control scheme for a group of mobile robots modeled as single or double integrators. The approach is based on the design of distance-based potential functions with inter-robot collision avoidance using the information about the distance with respect to other robots in polar coordinates. The result applies to an arbitrary undirected communication topology. The formation scheme becomes a decentralized control setup in robots equipped with local sensors of distance and orientation. The control approach can be extended to the case of kinematic and dynamical models of nonholonomic robots applying an appropriated input-output linearization. It enables the possibility to combine heterogeneous robots as shown by numerical simulations using the projection in the 2D plane of multi-rotor Unmanned Aerial Vehicles (UAV's), unicycle-type and omnidirectional wheeled mobile robots. Also, an experiment with these real wheeled mobile robots is presented.
UR - http://www.scopus.com/inward/record.url?scp=84994376777&partnerID=8YFLogxK
U2 - 10.1109/CCA.2016.7587880
DO - 10.1109/CCA.2016.7587880
M3 - Contribución a la conferencia
AN - SCOPUS:84994376777
T3 - 2016 IEEE Conference on Control Applications, CCA 2016
SP - 507
EP - 512
BT - 2016 IEEE Conference on Control Applications, CCA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE Conference on Control Applications, CCA 2016
Y2 - 19 September 2016 through 22 September 2016
ER -