abstract

• Obtaining simple and reliable dynamic models is a relevant contribution to easing the design and application of up-to-date robotic system controllers. In this context, this work explores the trajectory tracking control of a formation of multiple mobile robots described using a proposed generalized geometrical model. The approach takes two-robot group formations to generate a large-scale system. The results give us stability over the groups and the fastest with no-overshoot closed-loop velocity response at each agent. © 2022 IEEE.

authors

• Gonzalez-Galvan Emilio J.
• Guel-Cortez A.J.
• Méndez Barrios César Fernando Francisco

publication date

• 2022-01-01

published in

• Proceedings of the 24th Robotics Mexican Congress, COMRob 2022  Proceedings

keywords

• mobile robots; Multi-agent systems Large scale systems; Multi agent systems; Design and application; Differential robots; Dynamics models; Geometrical models; Group formations; Multiple mobile robot; Robotic systems; Simple ; System controllers; Trajectory tracking control; Mobile robots
• mobile robots; Multi-agent systems Large scale systems; Multi agent systems; Design and application; Differential robots; Dynamics models; Geometrical models; Group formations; Multiple mobile robot; Robotic systems; Simple++; System controllers; Trajectory tracking control; Mobile robots

Digital Object Identifier (DOI)

• 10.1109/COMRob57154.2022.9962309

PubMed ID

start page

• 54

end page

• 59

volume

issue