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Control of Multiple Mobile Robots in Dynamic Formations

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Proceedings of DINAME 2017 (DINAME 2017)

Part of the book series: Lecture Notes in Mechanical Engineering ((ABCMSMSE))

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Abstract

This work deals with the control of multiple mobile robots in trajectory, while maintaining a formation, through the use of State-Dependent Riccati Equation control method. Three robots with differential drive are used in a scheme in which one is considered the leader and the other two are considered followers. By changing formation parameters, this work seeks to achieve two different formations, V-shaped and Echelon formation, very common in the military field. Simulations are performed using LabVIEW, demonstrating the successful application of the control method in mobile robot tracking problems while maintaining formations.

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Acknowledgements

The first author would like to thank CAPES for the support on this work.

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Authors and Affiliations

  1. Center for Engineering, Modeling and Social Science, Federal University of ABC, Avenida dos Estados 5000, Santo Andre, SP, 092210-170, Brazil

    Guilherme Rinaldo, Elvira Rafikova & Marat Rafikov

Authors
  1. Guilherme Rinaldo
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  2. Elvira Rafikova
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  3. Marat Rafikov
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Corresponding author

Correspondence to Guilherme Rinaldo .

Editor information

Editors and Affiliations

  1. Escola Politécnica, Universidade de São Paulo, São Paulo, São Paulo, Brazil

    Agenor de T. Fleury

  2. Divisão de Engenharia Mecânica, Instituto Tecnológico de Aeronáutica, São José dos Campos, São Paulo, Brazil

    Domingos A. Rade

  3. Faculdade de Engenharia Mecânica, Universidade Estadual de Campinas, Campinas, São Paulo, Brazil

    Paulo R. G. Kurka

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Rinaldo, G., Rafikova, E., Rafikov, M. (2019). Control of Multiple Mobile Robots in Dynamic Formations. In: Fleury, A., Rade, D., Kurka, P. (eds) Proceedings of DINAME 2017. DINAME 2017. Lecture Notes in Mechanical Engineering(). Springer, Cham. https://doi.org/10.1007/978-3-319-91217-2_25

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  • DOI: https://doi.org/10.1007/978-3-319-91217-2_25

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-91216-5

  • Online ISBN: 978-3-319-91217-2

  • eBook Packages: EngineeringEngineering (R0)

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