Sistema de Transporte Cooperativo Desarrollado Para un Grupo de Robots Móviles No-Holonómicos Usando el Método Líder Virtual

Leonardo Enrique Solaque Guzmán, Daniel Ricardo Avendaño Flórez, Manuel Alejandro Molina Villa, Camilo Andrés Pulido Rojas

Resumen


In this paper, motion planning and control scheme for a cooperative transportation system is proposed, which consists of a single object to transport and multiple autonomous non-holonomic mobile robots. Also, this paper presents the design of cooperative control that allows establishing and maintaining a specific geometric formation to a mobile robot group while they are moving. Leader-follower approach control strategy was used but a ROS-based virtual leader was implemented, because the main idea is keep the formation all time by minimizing the error as low as possible. As a result of the research, it was proved by a ROS-based simulation the cooperative control system that permits a set of robots to keep a specific formation while the group performs a predetermined mission.

 

Palabras clave


Control Systems; Cooperative Robotics; Mobile Robotics; Decentralized Control; Leader-follower; Virtual-leader

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