Object Transportation Using Cooperative Diferential Mobile Robots

Resumen: In this work, two cooperative control schemes are developed, one for position and the other for trajectory tracking to move a rigid object using two differential robots. To do this, first, the kinematic model of the differential robots and the cooperative model are obtained. Second, a cascade control algorithm is developed to ensure that the robots reach the reference. To ensure the effectiveness of the trajectory tracking algorithm, the Lyapunov approach is used. To illustrate the proposed system, numerical simulations are performed in MATLAB.

¿Cómo citar?

Darias, H., Lopez-Estrada, F., Valencia-Palomo, G., Brindis-Velazquez, O. & Dominguez-Zenteno, J. Object Transportation Using Cooperative Diferential Mobile Robots. Memorias del Congreso Nacional de Control Automático, pp. 39-44, 2021.

Palabras clave

Collaborative control, Multi-Agent Systems, Differential Robots, tracking control

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