Podążanie za zadaną trajektorią grupy robotów kołowych z użyciem wirtualnych połączeń sprężysto-tłumiących

Abstract

The article presents the solution to the problem of trajectory tracking of a self-organized group of wheeled robots in the environment without obstacles. The group of robots is tracking a trajectory realized as following a reference point by the geometric center of the group, as well as simultaneously, reaching and maintaining a given distance between neighboring robots. The proposed method is based on virtual forces from virtual spring-damper connections between robots, which allows for the trajectory tracking of the previously self-organized group while maintaining its desired shape. The presented method of control is described in detail with the description of i-th robot dynamics and was tested numerically and experimentally. The paper presents the results of numerical tests and experimental research and ends with discussion and conclusions. The paper’s results could be expanded for applications related to robotic group trajectory tracking.