两移动机器人协作的线虚拟结构形成研究

Daniel Khede Dourado Vilia, M. Sarcinelli-Filho
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引用次数: 0

摘要

这项工作进一步探讨了控制由两个无人机(UAV)组成的编队的问题,或者由无人机和无人地面车辆(UGV)组成的编队,使用虚拟结构范式,将连接两个机器人的线作为虚拟结构。提出了表征虚拟结构的另一种版本,并讨论了这种新框架的优点和缺点。提出的群体控制器对群体空间中群体变量的时变产生参考,并将其转化为机器人空间中的速度,利用反馈线性化技术进行动态补偿。为了验证我们的建议,进行了实验,考虑一个四旋翼和一个差动驱动轮式移动机器人。通过插图和视频介绍了所获得的结果,并举例说明了所提出的地层表征的优点。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Exploiting the Line Virtual Structure Formation for Cooperation of Two Mobile Robots
This work explores further the problem of controlling a formation composed by two unmanned aerial vehicles (UAVs), or by a UAV and an unmanned ground vehicle (UGV), using the virtual structure paradigm, having the line connecting the two robots as the virtual structure. An alternative version for characterizing the virtual structure is proposed, and the advantages and drawbacks of this novel framework are discussed. The proposed formation controller generates references for the time variation of the formation variables in the formation space, which are transformed to velocities in the robots space, dynamically compensated using the feedback linearization technique. To validate our proposal experiments are run, considering one quadrotor and one differential drive wheeled mobile robot. The obtained results are presented through illustrations and videos, providing examples of the advantages of the proposed formation characterization.
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