Authors:
Renato Vizuete
;
Jackeline Abad Torres
and
Paulo Leica
Affiliation:
Escuela Politécnica Nacional, Ecuador
Keyword(s):
Multi-robot Formation, Distributed Control, Containment Algorithm, Consensus, Mobile Manipulator.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
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, co
nsidering as reference, a sinusoid in each coordinate axis.
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