Control para navegación autónoma y formación de robots móviles diferenciales

Alejandro Rodríguez-Angeles; Jorge Alejandro Juarez-Lora

doi:10.29057/icbi.v11iEspecial2.10844

Alejandro Rodríguez-Angeles Centro de Investigación y de Estudios Avanzados https://orcid.org/0000-0002-6212-2201
Jorge Alejandro Juarez-Lora Instituto Politécnico Nacional https://orcid.org/0000-0003-0686-5200

DOI: https://doi.org/10.29057/icbi.v11iEspecial2.10844

Keywords: Reactive, Autonomous, Navigation, Formation, Multi-agent

Abstract

A decentralized controller for differential mobile robots, providing autonomous navigation and obstacle avoidance, is presented, that simultaneously may enforce a desired formation while performing trajectory tracking. The controller is based on dynamic modeling, integrating evasion forces from obstacles, formation forces, and path-following forces. The control loop thus, represents a dynamic extension of the kinematic model for the differential mobile robot, generating linear and angular velocities fed to the mobile robot’s kinematic model. Using Lyapunov theory, closed loop stability is proven for the non-collision case. Experimental results showing agreement with the theoretical results are presented for a case study.

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