TY - GEN
T1 - Coordination of multiple wheeled mobile robots with convoy and delta formations
AU - Hernandez-Jimenez, Diana E.
AU - Rodriguez-Nava, Enrique A.
AU - Trujillo-Ocampo, Francisco J.
AU - Godinez-Cantillo, Valeria
AU - Sanchez-Zapata, Luis F.
AU - Mata-Machuca, Juan L.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/10/7
Y1 - 2021/10/7
N2 - 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.
AB - 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.
KW - Differential drive robots
KW - Leader-follower configuration
KW - Obstacle avoidance
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85119447895&partnerID=8YFLogxK
U2 - 10.1109/ICECCME52200.2021.9590844
DO - 10.1109/ICECCME52200.2021.9590844
M3 - Contribución a la conferencia
AN - SCOPUS:85119447895
T3 - International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021
BT - International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2021
Y2 - 7 October 2021 through 8 October 2021
ER -