Iterative weighted tuning for a nonlinear model predictive formation control

• 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
• DOI: 10.1109/ICARSC.2014.6849754

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.