DocumentCode
2468248
Title
Nonlinear formation control for a cooperative load pushing
Author
Dalfior, Julio Storch ; Vassallo, Raquel Frizera
Author_Institution
Dept. of Electr. Eng., Fed. Univ. of Espirito Santo, Vitoria, Brazil
fYear
2010
fDate
14-17 March 2010
Firstpage
1439
Lastpage
1444
Abstract
The main issue addressed in this work is multi-robot formation control for cooperative load pushing. Specifically, the principal concern is how to achieve and maintain a formation of two or more inexpensive robots to keep them in contact with the load and coordinate their movement in order to perform the task. Also a final position controller is implemented for defining the load motion towards a desired position. The presented results are encouraging and motivate the future steps.
Keywords
mobile robots; multi-robot systems; nonlinear control systems; position control; cooperative load pushing; multirobot formation control; nonlinear formation control; position controller; Cameras; Image converters; Image segmentation; Motion control; Multirobot systems; Robot kinematics; Robot vision systems; Robustness; Shape control; Telecommunication network reliability;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology (ICIT), 2010 IEEE International Conference on
Conference_Location
Vi a del Mar
Print_ISBN
978-1-4244-5695-6
Electronic_ISBN
978-1-4244-5696-3
Type
conf
DOI
10.1109/ICIT.2010.5472493
Filename
5472493
Link To Document