Artigo de Periódico
Multi-robot nonlinear model predictive formation control: moving target and target absence
Fecha
2013Registro en:
0921-8890
v. 61
Autor
Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
Nascimento, Tiago Pereira do
Moreira, António Paulo
Conceição, André G. Scolari
Institución
Resumen
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.