Please use this identifier to cite or link to this item:
https://repositorio.ufba.br/handle/ri/15233
metadata.dc.type: | Artigo de Periódico |
Title: | Multi-robot nonlinear model predictive formation control: moving target and target absence |
Other Titles: | Robotics and Autonomous Systems |
Authors: | Nascimento, Tiago Pereira do Moreira, António Paulo Conceição, André G. Scolari |
metadata.dc.creator: | Nascimento, Tiago Pereira do Moreira, António Paulo Conceição, André G. Scolari |
Abstract: | This paper describes a novel approach in formation control for mobile robots in the active target tracking problem. A nonlinear model predictive formation controller (NMPFC) for target perception was implemented to converge a group of mobile robots toward a desired target. The team must also maintain a desired formation following a target while it is moving, or follow a leader in the case of target’s absence. The structure details of the controller, as well as a mathematical analysis of the formation model used, are presented. Furthermore, results of simulations and experiments with real robots are presented and discussed. |
Keywords: | Multi-robot system Robot control Mobile robotics |
metadata.dc.rights: | Acesso Aberto |
URI: | http://repositorio.ufba.br/ri/handle/ri/15233 |
Issue Date: | 2013 |
Appears in Collections: | Artigo Publicado em Periódico (PPGEE) |
Files in This Item:
File | Description | Size | Format | |
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1-s2.0-S0921889013001310-main.pdf | 1,9 MB | Adobe PDF | View/Open |
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