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2020 | OriginalPaper | Chapter

Centralized Trajectory Tracking Controller for a Multi-robot System

Authors : Christian Beltrán, Andrés Cabrera, Gabriel Delgado, Daniel Iturralde

Published in: Applied Technologies

Publisher: Springer International Publishing

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Abstract

This work shows the development and implementation of a centralized trajectory tracking system for multi-robot systems, which is based on a kinematic trajectory controller for unicycle robots and subsequently transforming it to differential kinematics, a wireless network is also created for the communication of the master with the slave robots, additionally a method of prevention and avoidance of collisions between the robots is implemented.

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Metadata
Title
Centralized Trajectory Tracking Controller for a Multi-robot System
Authors
Christian Beltrán
Andrés Cabrera
Gabriel Delgado
Daniel Iturralde
Copyright Year
2020
Book
Applied Technologies

Print ISBN: 978-3-030-42530-2

Electronic ISBN: 978-3-030-42531-9

Copyright Year: 2020

DOI
https://doi.org/10.1007/978-3-030-42531-9_27

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