Resumen
In this article, the problem of performing different tasks with a group of mobile robots is addressed. To cope with issues like regulation to a point or trajectory tracking, a consensus scheme is considered. Three topologies were tested in simulation. The first goal was to make consensus in the group of robots, after the consensus point was relocated to achieve a regulation control. The last objective was to follow a desired trajectory moving the consensus point along the predefined path. The proposal was validated through experimental test with a group of three differential mobile robots.
Idioma original | Inglés |
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Título de la publicación alojada | Advanced Topics on Computer Vision, Control and Robotics in Mechatronics |
Editorial | Springer International Publishing |
Páginas | 409-432 |
Número de páginas | 24 |
ISBN (versión digital) | 9783319777702 |
ISBN (versión impresa) | 9783319777696 |
DOI | |
Estado | Publicada - 28 abr. 2018 |
Publicado de forma externa | Sí |