Application for the Cooperative Control of Mobile Robots with Energy Optimization

Cooperative control of mobile robots allows to transport heavy loads collaboratively between 2 or more robots, these applications have motivated the development of new control strategies to coordinate multiple robots automatically. On the other hand, energy optimization in robotic systems is increasingly important to ensure autonomy and take care of resources. This article introduces an application for cooperative control of 3 mobile robots in open loop, the goal is to coordinate the position and parameters of the triangular shape created from the distances between robots. The control algorithm is designed using the Pontryagin principle, starting from the training model and solving differential equations with numerical methods. Mobile robots are built using 3D printing technology and free hardware with wireless Bluetooth communication to receive orders from the remote station. The application is implemented on a computer by inserting the developed algorithm and generating the control orders, this program is developed in Matlab through a main menu for user management. The results present the simulation and experimentation of the system, highlighting the positions and velocities generated by cooperative control with energy optimization, as well as the images of the movements made by the robots according to the orders sent. Finally, a usability score for the app that demonstrates high acceptance is obtained.