Trajectory Tracking based on Containment Algorithm Applied to a Formation of Mobile Manipulators

Renato Vizuete, Jackeline Abad Torres, Paulo Leica

Abstract

This paper presents a distributed control for the formation control of mobile manipulators. We use a mobile manipulator model that can be separated in a kinematic and a dynamic component. For the kinematic component (formation control), we propose a distributed containment algorithm with a smooth function to avoid the chattering phenomenon, which provides control actions applicable in real robots. For the dynamic component, a controller based on the compensation of the dynamic forces and torques is applied. The structure of the formation is given by: a group of virtual leaders, which are used as references and to delimit the physic boundaries, and a group of follower robots. The distribution of the followers is determined by a Laplacian matrix, which is built based on the desired positions of the robots inside the convex hull formed by the virtual leaders. To validate the designed controllers, a simulation of formation and tracking trajectory of 8 mobile manipulators is performed, considering as reference, a sinusoid in each coordinate axis.

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Paper Citation


in Harvard Style

Vizuete R., Abad Torres J. and Leica P. (2017). Trajectory Tracking based on Containment Algorithm Applied to a Formation of Mobile Manipulators . In Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-263-9, pages 122-131. DOI: 10.5220/0006435501220131


in Bibtex Style

@conference{icinco17,
author={Renato Vizuete and Jackeline Abad Torres and Paulo Leica},
title={Trajectory Tracking based on Containment Algorithm Applied to a Formation of Mobile Manipulators},
booktitle={Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2017},
pages={122-131},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006435501220131},
isbn={978-989-758-263-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Trajectory Tracking based on Containment Algorithm Applied to a Formation of Mobile Manipulators
SN - 978-989-758-263-9
AU - Vizuete R.
AU - Abad Torres J.
AU - Leica P.
PY - 2017
SP - 122
EP - 131
DO - 10.5220/0006435501220131