Dynamic Modeling and Centralized Formation Control of Mobile Robots

Author

De la Cruz, Celso ; Carelli, Ricardo

Author_Institution

Inst. de Autom., Univ. Nacional de San Juan

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

3880

Lastpage

3885

Abstract

The work presents, first, a complete dynamic model of a unicycle-like mobile robot that takes part in a multi-robot formation. A linear parameterization of the model is also performed. The resulting robot model is input-output feedback linearized. On a second stage, for the multi-robot system, a model is obtained by arranging into a single equation all the feedback linearized robot models. This multi-robot model is expressed in terms of formation states by applying a coordinate transformation. The inverse dynamics technique is then applied to design a centralized formation control. The controller can be applied both to positioning and to tracking desired robot formations. Experimental results validate the theoretical aspects

Keywords

centralised control; feedback; mobile robots; multi-robot systems; position control; robot dynamics; centralized formation control; dynamic modeling; feedback linearized robot models; input-output feedback; inverse dynamics technique; linear parameterization; mobile robots; multirobot model; Centralized control; Control systems; Force control; Linear feedback control systems; Mobile robots; Multirobot systems; Remotely operated vehicles; Robot control; Robot kinematics; Vehicle dynamics; Formation control; dynamic model; non-holonomic mobile robots; nonlinear systems;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347299

Filename

4153091