Centralized Trajectory Tracking Controller for a Multi-robot System

Abstract:

This work shows the development and implementation of a centralized trajectory tracking system for multi-robot systems, which is based on a kinematic trajectory controller for unicycle robots and subsequently transforming it to differential kinematics, a wireless network is also created for the communication of the master with the slave robots, additionally a method of prevention and avoidance of collisions between the robots is implemented.

Año de publicación:

2020

Keywords:

• Differential kinematics
• Multi-robot system
• VELOCITY OBSTACLE
• Trajectory tracking
• Centralized system
• mobile robot

Fuente:

scopus