FORMATION CONTROL OF MOBILE ROBOTS UNDER ROS
Abstract eng: In this paper, a new framework is proposed for implementing the formation control laws on nonholonomic mobile robots based on ROS (Robot Operating System). To achieve the desired formation, mobile robots need to localize themselves within the environment, to communicate their positions to each other and to measure their corresponding velocities. ROS provides some convenient packages that make the formation problem easier to solve. We describe each of these packages and how they can be used to solve the formation control problem under ROS.
Contributors:
Publisher:
Brno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
Conference Title:
Conference Title:
Engineering Mechanics 2017
Conference Venue:
Svratka, CZ
Conference Dates:
2017-05-15 / 2017-05-18
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2017-05-22, last modified 2017-05-22
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