Null-Space-Based Controller for Heterogeneous Robot Formation in Congested Environments

Paulo Leica, Bryan Sagnay, Fabian Poveda, Oscar Camacho

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

1 Cita (Scopus)

Resumen

This paper describes a control proposal aimed at the formation of heterogeneous robots in environments with several obstacles. The formation of robots is composed of mobile robots with differential traction and a quadcopter, the dynamic model of each robot is used. The proposed controller is a cascade control scheme where the external loop contains a null-space-based control for path tracking and obstacle avoidance, and the internal controller is a dynamic PID type controller for speed tracking of each robot. The proposed control allows to have 2 tasks: i) form control and ii) posture control. Additionally, an obstacle avoidance strategy based on potential fictitious fields has been implemented. Obstacle avoidance can be located within one of the control tasks. The stability of the controllers is analyzed based on Lyapunov, and simulation tests are presented to verify the good performance of the proposed controllers.

Idioma originalInglés
Título de la publicación alojadaProceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas238-243
Número de páginas6
ISBN (versión digital)9781728155814
DOI
EstadoPublicada - 1 nov. 2019
Publicado de forma externa
Evento4th International Conference on Information Systems and Computer Science, INCISCOS 2019 - Quito, Pichincha, Ecuador
Duración: 20 nov. 201922 nov. 2019

Serie de la publicación

NombreProceedings - 2019 International Conference on Information Systems and Computer Science, INCISCOS 2019

Conferencia

Conferencia4th International Conference on Information Systems and Computer Science, INCISCOS 2019
País/TerritorioEcuador
CiudadQuito, Pichincha
Período20/11/1922/11/19

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