Estrategia de Control Basada en Algoritmos de Enjambres para el Transporte Cooperativo de Carga Usando un Grupo de Robots Móviles no Holonomicos (Control Strategy Based on Swarms Algorithms to Cooperative Payload Transport Using a Non-Holonomic Mobile Robots Group)

David Ruiz (ruiz.david@correounivalle.edu.co)1, Bladimir Bacca (bladimir.bacca@correounivalle.edu.co)1, Eduardo Caicedo (eduardo.caicedo@correounivalle.edu.co)1


1Universidad del Valle

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2016
Volume: 14,   Issue: 2 
ISSN: 1548-0992


Abstract:
Cooperative payload transport´s systems commonly use schemes of coordination and control in order to maintain the formation of the robots involved in the transport task. For this purpose the leader follower algorithm or any of its variations is used. However this kind of systems use, in most cases, control schemes that do not consider in their design the influence of payload physical properties such as geometry, weight, position of center of mass and density. In this scenario, the classic coordination schemas as the leader following causes a considerable loss of efficiency. For this reason, in this work a swarm based control strategy is proposed in order to estimate the object center of mass dynamically. In this way, an explicit, non-centralized coordination schema, which is oriented to the development of payload transport task in structured environments. The results obtained in this work are focused on measuring system stability, robot control efforts and trajectory pose errors. Different trajectories were tested, and the results compared with the classic coordination method of leader following.

Index Terms:
Center of Mass, Coordination, Cooperative Robotics, Framework, Optimization, ROS, Swarms Algorithms   


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