Sistema de Transporte Cooperativo Desarrollado Para un Grupo de Robots Móviles No-Holonómicos Usando el Método Líder Virtual Sistema de Transporte Cooperativo Desarrollado Para un Grupo de Robots Móviles No-Holonómicos Usando el Método Líder Virtual

Resumen

In this paper, motion planning and control scheme for a cooperative transportation system is proposed, which consists of a single object to transport and multiple autonomous non-holonomic mobile robots. Also, this paper presents the design of cooperative control that allows establishing and maintaining a specific geometric formation to a mobile robot group while they are moving. Leader-follower approach control strategy was used but a ROS-based virtual leader was implemented, because the main idea is keep the formation all time by minimizing the error as low as possible. As a result of the research, it was proved by a ROS-based simulation the cooperative control system that permits a set of robots to keep a specific formation while the group performs a predetermined mission.