Abstract
This paper presents a strategy to guide multiple robots in a virtual non-flexible structure. To accomplish positioning and trajectory tasks, the formation control is implemented using the Multi-Layer Control Scheme (MLCS). The MLCS performs the formation control task splitting the group of robots in triangular formation, and then each triangular formation is guided individually by the scheme considering the triangular formations trajectories translated from the group barycenter. Besides that, this work presents a simple strategy to automate the identification of the triangular formation sequence, which is crucial to compute the transformation functions of the formation to the robots variables. It is also proposed two strategies to combine and weight the robot control signals, since each robot may receive control signals from various formations. The proposals are tested in a 4-robot formation simulation using the MobileSim framework and the weighting strategies are evaluated using performance indices.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
