ADAPTIVE CONTROL OF MOTION OF A GROUP OF ROBOTS ALONG A PRESCRIBED TRAJECTORY
Yu. N. Zolotukhin, A. S. Maltsev, M. N. Filippov, K. Yu. Kotov, A. S. Dimova
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: управление группой мобильных роботов, синтез систем автоматического регулирования, адаптация параметров регулятора, моделирование, Robot Operating System, control of a group of mobile robots, synthesis of automatic control systems, adaptation of regulator parameters, modeling, robot operating system
Abstract
A control method and software structure for solving the problem of control of motion of a group of robots along a prescribed trajectory with preserving the chosen configuration under the conditions of unsteady dynamic characteristics of individual robots is proposed.
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