Iterative weighted tuning for a nonlinear model predictive formation control

Iterative weighted tuning for a nonlinear model predictive formation control

A multi-robot system is formed when a group of robots interact with the environment as a single system. This system can also be in formation in order to accomplish tasks rather difficult or impossible to achieve with a single robot. A nonlinear model predictive formation control (NMPFC) was used to...

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Bibliographic Details
Published in:2014 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) pp. 2 - 7
Main Authors: Nascimento, Tiago P., Conceicao, Andre G. S., Moreira, Antonio Paulo
Format: Conference Proceeding
Language:English
Published: IEEE 01-05-2014
Subjects:
Collision avoidance
Cost function
Formation Control
Mobile Robotics
Multi-Robot Systems
Nonlinear Model Predictive Control
Predictive models
Robot kinematics
Tuning
Uncertainty
Weight Tuning
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Summary:A multi-robot system is formed when a group of robots interact with the environment as a single system. This system can also be in formation in order to accomplish tasks rather difficult or impossible to achieve with a single robot. A nonlinear model predictive formation control (NMPFC) was used to converge a group of middle sized mobile soccer robots towards a desired target using the concept of active target tracking. This paper presents a novel approach on formation controller's weight tuning in order to minimize an objective function that reflects the controller's efficiency with respect to a given criteria. Furthermore, the results of simulation and experiment with real robots are presented and discussed.
DOI:10.1109/ICARSC.2014.6849754