Nonlinear Control Techniques and Omnidirectional Vision for Team Formation on Cooperative Robotics

摘要

In this work a robot cooperation strategy based on omnidirectional vision is presented. Such strategy will be applied to a mobile robot team formed by small and simple robots and a bigger leader robot with more computational power. The leader must control team formation. It has an omnidirectional camera and sees the other robots. Color segmentation and Kalman filtering is used to obtain the pose of the followers. This information is then used by a nonlinear stable controller to manage team formation. Simulations and some preliminary experiments were run. The current results are interesting and encourage towards the next steps.