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Erschienen in:
2012 | OriginalPaper | Buchkapitel
A Generic Framework for Multi-robot Formation Control
verfasst von : Tiago P. Nascimento, André Gustavo S. Conceição, Hugo P. Alves, Fernando A. Fontes, António Paulo Moreira
Erschienen in: RoboCup 2011: Robot Soccer World Cup XV
Verlag: Springer Berlin Heidelberg
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This paper describes a novel approach in formation control for mobile robots. A Nonlinear Model Predictive Controller (NMPC) is used to control the formation of a heterogeneous mobile robots group. The desired formation is formed by an holonomic robot and a nonholonomic robot. The same nonlinear controller is used in both robots with the same cost function. The details of the controller structure are presented in order to track a fixed target departing from different positions in the field avoiding collisions with each other. A soccer robot competition field is used to present the simulations to evaluate the performance of the controller.