Open AccessDecentralized Formation Tracking for Groups of Mobile Robots with Consensus and MPC**This work was supported by CAPES, Brazil.
Author(s) -
Filipe Lopes de Barros Correia,
Ubirajara F. Moreno
Publication year - 2015
Publication title -
ifac-papersonline
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.308
H-Index - 72
eISSN - 2405-8971
pISSN - 2405-8963
DOI - 10.1016/j.ifacol.2015.12.045
Subject(s) - trajectory , mobile robot , tracking (education) , collision avoidance , robot , task (project management) , work (physics) , computer science , model predictive control , differential (mechanical device) , topology (electrical circuits) , artificial intelligence , collision , control (management) , engineering , psychology , computer security , physics , aerospace engineering , electrical engineering , pedagogy , systems engineering , astronomy , mechanical engineering
Moving in formation while tracking a reference trajectory is a common task for groups of mobile robots. In this work, we propose a solution which also deals with collision avoidance and communication topology preservation using Model Predictive Control (MPC) and the concept of virtual structure in a decentralized manner. We present results of simulations, a comparison with another method from the literature, and the results of a virtual reality experiment using differential robots.
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