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Cooperative control of robotic spheres for tracking trajectories with visual feedback

Abstract:

This paper describes the design and implementation of a centralized cooperative control algorithm of 3 sphere-type robots, for the tracking of preestablished trajectories in a structured environment. To analyze the image characteristics of said spheres, a camera is placed in a strategic place over them (eye-to-hand) and different colors are assigned to each sphere. The system design has been made based on a multilayer scheme, where each layer works as an independent module dealing with a specific part, such as: Cooperation, trajectory tracking and visual feedback giving greater flexibility to the scheme. In this way, robots move around the plane trying not to deform the fixed virtual structure (triangle), following the desired trajectory. To validate the correct operation of the proposed controller, some simulation and experimental tests are presented.