基于异构多智能体机器人系统的模拟拖车停车任务

2018 XX Congreso Mexicano de Robótica (COMRob) Pub Date : 2018-09-01 DOI:10.1109/COMROB.2018.8689405

J. González-Sierra, E. Aranda-Bricaire, Ó. González-Medina

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引用次数: 0

摘要

本文提出了一种由差动驱动机器人和全向移动机器人组成的异构多智能体机器人系统，从运动学角度模拟停车任务。为此，提出了一种基于反馈线性化技术的控制策略，使其渐近收敛到期望轨迹。数值模拟说明了异构系统和标准n-拖车系统在执行停车任务时的行为之间的比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Parking Task for an Emulated Trailer through a Heterogeneous Multi-Agent Robot System

This paper proposes a heterogeneous multi-agent robot system, composed of differential-drive robots and omnidirectional mobile robots to emulate the parking task from a kinematic point of view. For this aim, a control strategy, based on the feedback linearization techniques, is proposed, obtaining asymptotic convergence to the desired trajectory. Numerical simulations illustrate a comparison between the behavior of the heterogeneous system and a standard n-trailer system while performing the parking task.

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来源期刊

2018 XX Congreso Mexicano de Robótica (COMRob)

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