LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem

Tiago Pereira do Nascimento, Fernando A. Fontes, António Paulo Moreira, André Gustavo Scolari Conceição

2011

Abstract

This paper describes a novel approach in formation control for mobile robots. Here, a Nonlinear Model Predictive Controller (NMPC) is used to maintain the formation of three omnidirectional mobile robots. The details of the controller structure are presented as well as its functionality in a soccer robot team. Three Middle Size League Robots are used for evaluation. A case of study based in a soccer robot situation is presented, developed, and implemented to evaluate the performance of the controller. Simulations results are presented and discussed.

Paper Citation

in Harvard Style

Pereira do Nascimento T., A. Fontes F., Paulo Moreira A. and Gustavo Scolari Conceição A. (2011). LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 135-144. DOI: 10.5220/0003453701350144

in Bibtex Style

@conference{icinco11,
author={Tiago Pereira do Nascimento and Fernando A. Fontes and António Paulo Moreira and André Gustavo Scolari Conceição},
title={LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={135-144},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003453701350144},
isbn={978-989-8425-75-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - LEADER FOLLOWING FORMATION CONTROL FOR OMNIDIRECTIONAL MOBILE ROBOTS - The Target Chasing Problem
SN - 978-989-8425-75-1
AU - Pereira do Nascimento T.
AU - A. Fontes F.
AU - Paulo Moreira A.
AU - Gustavo Scolari Conceição A.
PY - 2011
SP - 135
EP - 144
DO - 10.5220/0003453701350144