Abstract
This paper describes a novel approach in formation control for mobile robots. A Nonlinear Model Predictive Controller (NMPC) is used to control the formation of a heterogeneous mobile robots group. The desired formation is formed by an holonomic robot and a nonholonomic robot. The same nonlinear controller is used in both robots with the same cost function. The details of the controller structure are presented in order to track a fixed target departing from different positions in the field avoiding collisions with each other. A soccer robot competition field is used to present the simulations to evaluate the performance of the controller.
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Nascimento, T.P., Conceição, A.G.S., Alves, H.P., Fontes, F.A., Moreira, A.P. (2012). A Generic Framework for Multi-robot Formation Control. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds) RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011. Lecture Notes in Computer Science(), vol 7416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32060-6_25
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DOI: https://doi.org/10.1007/978-3-642-32060-6_25
Publisher Name: Springer, Berlin, Heidelberg
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