Control Estable de Formación Basado en Visión Omnidireccional para Robots Móviles No Holonómicos

Flavio Roberti, Juan Marcos Toibero, Raquel Frizera Vassallo, Ricardo Carelli

Resumen

Este trabajo presenta un algoritmo de control en visión omnidireccional para la navegación autónoma de un equipo de robots móviles no holonómicos manteniendo una formación deseada. Los errores de control se definen en términos de las posiciones instantáneas de cada robot y de su posición deseada dentro de la formación, relativa al robot líder del grupo. Se prueba la estabilidad del sistema propuesto según la teoría de Lyapunov y se realiza un análisis de robustez ante ciertos errores de estima. Resultados experimentales ilustran el buen desempeño del algoritmo de control propuesto.

Palabras clave

Control de formación; Robótica móvil; Sistemas no lineales; Análisis de estabilidad y robustez

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Referencias

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