MIMC-VADOC Model for Autonomous Multi-robot Formation Control Applied to Differential Robots

摘要

The present work highlights the development of a decentralized formation control model focused on mobile differential type robots. It refers its study mainly to the control design, subsequent simulation and implementation of control systems. The control theory starts from two different robot motion models. The first is related to trajectory and position control, meanwhile the second includes multi-robot control systems, especially associated to robotic swarms and potential fields. Subsequently, a list of formation control requirements is proposed. Based on this, the potential field-based multi-robot formation control model is developed. After simulations, the global model feedback and communication systems are implemented on real differential mobile robots. Finally, the complete control system is tested and compared with other models within a controlled indoor environment.