Resumen
This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance.
Idioma original | Inglés |
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Páginas (desde-hasta) | 184-189 |
Número de páginas | 6 |
Publicación | IFAC-PapersOnLine |
Volumen | 51 |
N.º | 22 |
DOI | |
Estado | Publicada - 2018 |