Wheeled Mobile Robot Formation using Recursive Robust Regulator with Discrete-Time Markov Linear System

被引：2
|
作者：
Nakai, Mauricio E. [1 ]
Inoue, Roberto S. [2 ]
Terra, Marco H. [1 ]
Grassi, Valdir, Jr. [1 ]
机构：
[1] Univ Sao Paulo, Dept Elect Engn, Sao Carlos, SP, Brazil
[2] Univ Fed Sao Carlos UFSCar, Dept Elect Engn, Sao Carlos, SP, Brazil
来源：
PROCEEDINGS OF 13TH LATIN AMERICAN ROBOTICS SYMPOSIUM AND 4TH BRAZILIAN SYMPOSIUM ON ROBOTICS - LARS/SBR 2016 | 2016年
关键词：
LEADER-FOLLOWER FORMATION; JUMP SYSTEMS;
D O I：
10.1109/LARS-SBR.2016.36
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we use a recursive robust regulator for discrete time Markovian jump linear systems to control a group of wheeled mobile robots in formation. The formation has a direct communication topology and a leader. The robustness is checked with a communication fault in blind areas and, if the fault affects the leader, this robot leader is changed and the formation continues to follow the defined trajectory. When the communication is reestablished the robot returns to its position in the formation. We use the properties of e-Puck wheeled mobile robots to perform realistic simulations. The simulations show the effectiveness of the formation control approach used.
引用
收藏
页码：175 / 180
页数：6
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