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Unicycle Mobile Robot Formation Control in Hardware in the Loop Environments

Abstract:

This work presents the development of a formation control algorithm for three unicycle-type robots, to solve the problem in the implementation of controllers oriented to collaborative functions and also subject to an excessive economic cost. This leads to the approximation of the simulation technique in environments Hardware in the loop (HIL), which allow clearly visualize with a real idea and a high percentage of approximation of the behavior of mobile robots unicycle type integrating different types of advanced controllers that will allow the execution of tasks of mobile robots unicycle type the same that are determined by the trajectories that control the position and thus raises the strategy of nonlinear control with a centralized and decentralized formation in the work area, acting as a command and control management system that will in turn be able to receive input signals, process the information and deliver control signals, which will later be displayed and analyzed to help verify the control theory.