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Artigo Acesso aberto Produção Nacional Revisado por pares
BIBTEX RIS

Multi-robot nonlinear model predictive formation control: Moving target and target absence

2013; Elsevier BV; Volume: 61; Issue: 12 Linguagem: Inglês

10.1016/j.robot.2013.07.005

ISSN

1872-793X

Autores

Tiago Nascimento, António Paulo Moreira, André G. S. Conceição,

Tópico(s)

Advanced Control Systems Optimization

Resumo

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.

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