LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem

Tiago Pereira do Nascimento, Fernando A. Fontes, António Paulo Moreira, André Gustavo Scolari Conceição

Abstract

This paper describes a novel approach in formation control for mobile robots. Here, a Nonlinear Model Predictive Controller (NMPC) is used to maintain the formation of three omnidirectional mobile robots. The details of the controller structure are presented as well as its functionality in a soccer robot team. Three Middle Size League Robots are used for evaluation. A case of study based in a soccer robot situation is presented, developed, and implemented to evaluate the performance of the controller. Simulations results are presented and discussed.

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Paper Citation


in Harvard Style

Pereira do Nascimento T., A. Fontes F., Paulo Moreira A. and Gustavo Scolari Conceição A. (2011). LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 135-144. DOI: 10.5220/0003453701350144


in Bibtex Style

@conference{icinco11,
author={Tiago Pereira do Nascimento and Fernando A. Fontes and António Paulo Moreira and André Gustavo Scolari Conceição},
title={LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={135-144},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003453701350144},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem
SN - 978-989-8425-75-1
AU - Pereira do Nascimento T.
AU - A. Fontes F.
AU - Paulo Moreira A.
AU - Gustavo Scolari Conceição A.
PY - 2011
SP - 135
EP - 144
DO - 10.5220/0003453701350144