Coordination of multiple wheeled mobile robots with convoy and delta formations

Diana E. Hernandez-Jimenez, Enrique A. Rodriguez-Nava, Francisco J. Trujillo-Ocampo, Valeria Godinez-Cantillo, Luis F. Sanchez-Zapata, Juan L. Mata-Machuca

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

Resumen

This work develops a control strategy based on a mechatronic approach to coordinate a group of three differential drive robots which are able to navigating through a reference trajectory maintaining a formation (convoy or delta) and avoiding obstacles either by modifying the trajectory or the formation. To overcome this problem, the leader-follower formation is considered. For the location of the robots, the internal and external parameters of the system are used to obtain an initial pose (combination of the position and orientation of the robot) for each robot by implementing the Iterative Closest Point (ICP) algorithm. Then, for the navigation of the robots, a proportional controller is used to follow the defined trajectories, as well as the implementation of the Vector Field Histogram (VHF) method for the obstacle avoidance. Finally, for the formation and joint movement, a proportional controller capable of carrying out and maintaining both the convoy formation and the delta formation is implemented. Finally, the performance of the proposed technique is verified with three TurtieBot3 Burger robots under different trajectories and obstacles.

Idioma originalInglés
Título de la publicación alojadaInternational Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781665412629
DOI
EstadoPublicada - 7 oct. 2021
Evento2021 IEEE International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021 - Mauritius, Mauricio
Duración: 7 oct. 20218 oct. 2021

Serie de la publicación

NombreInternational Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021

Conferencia

Conferencia2021 IEEE International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021
País/TerritorioMauricio
CiudadMauritius
Período7/10/218/10/21

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