Formation control algorithm for a fleet of mobile robots
نویسندگان
چکیده
The necessity of decreasing the environmental impact of agricultural activities, while preserving the level of production to satisfy growing population demands requires investigation of new production tools. Mobile robots may constitute a promising solution, since autonomous devices may allow increasing production levels, while preserving the environment thanks to their high accuracy. In this paper, the use of several autonomous mobile robots to perform field operation is investigated. In particular, predictive techniques are also proposed to account for delays induced by low-level actuators. Capabilities of the proposed approach are investigated through full scale experiments.
منابع مشابه
Formation Control and Path Planning of Two Robots for Tracking a Moving Target
This paper addresses the dynamic path planning for two mobile robots in unknownenvironment with obstacle avoidance and moving target tracking. These robots must form atriangle with moving target. The algorithm is composed of two parts. The first part of thealgorithm used for formation planning of the robots and a moving target. It generates thedesired position for the robots for the next step. ...
متن کاملCooperative Control of Mobile Robots in Creating a Runway Platform for Quadrotor Landing
Multi-agent systems are systems in which several agents accomplish a mission in a cooperative manner. In this paper, a novel idea for the construction of a movable runway platform based on multi-agent systems is presented. It is assumed that an aerial agent (quadrotor) decides to make an emergency landing due to reasons such as a decrease in energy level or technical failure, while there is no ...
متن کاملDynamical formation control of wheeled mobile robots based on fuzzy logic
In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...
متن کاملControl of Wheeled Mobile Manipulators with Flexible Suspension Considering Wheels Slip Effects
Wheeled mobile manipulators utilize both the locomotion capabilities of the wheeled platform and manipulation capacity of the arm. While the modelling and control of such systems have previously been studied, most of them have considered robots with rigid suspension and their wheels are subject to pure rolling conditions. To relax the aforementioned limiting assumptions, this research addresses...
متن کاملOptimal Load of Flexible Joint Mobile Robots Stability Approach
Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...
متن کاملBackward and forward path following control of a wheeled robot
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013