Información del artículo
Resumen
Este trabajo presenta un algoritmo de control basado en seguimiento de líderes 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. Para el sensado de las posiciones relativas, solo el robot líder está equipado con un sistema de visión omnidireccional. 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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