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Authors: Renato Vizuete ; Jackeline Abad Torres and Paulo Leica

Affiliation: Escuela Politécnica Nacional, Ecuador

ISBN: 978-989-758-263-9

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, con sidering as reference, a sinusoid in each coordinate axis. (More)

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Paper citation in several formats:
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

@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},
}

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

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