Universidad de las Fuerzas Armadas - ESPE, 171103 Sangolquí, Ecuador.
Escuela Politécnica Superior, Universidad Autónoma de Madrid, 28049 Madrid, Spain.
Sensors (Basel). 2019 Oct 9;19(20):4367. doi: 10.3390/s19204367.
Cooperative robotics has considered tasks that are executed frequently, maintaining the shape and orientation of robotic systems when they fulfill a common objective, without taking advantage of the redundancy that the robotic group could present. This paper presents a proposal for controlling a group of terrestrial robots with heterogeneous characteristics, considering primary and secondary tasks thus that the group complies with the following of a path while modifying its shape and orientation at any time. The development of the proposal is achieved through the use of controllers based on linear algebra, propounding a low computational cost and high scalability algorithm. Likewise, the stability of the controller is analyzed to know the required features that have to be met by the control constants, that is, the correct values. Finally, experimental results are shown with different configurations and heterogeneous robots, where the graphics corroborate the expected operation of the proposal.
协作机器人已经考虑了经常执行的任务，即在完成共同目标时保持机器人系统的形状和方向，而不利用机器人组可能呈现的冗余。本文提出了一种控制具有异构特性的地面机器人组的方法，考虑了主要和次要任务，以便在任何时候修改形状和方向的同时，机器人组能够沿着路径前进。该方法通过使用基于线性代数的控制器来实现，提出了一种低计算成本和高可扩展性的算法。同样，分析了控制器的稳定性，以了解控制常数必须满足的要求，即正确的值。最后，展示了不同配置和异构机器人的实验结果，图形验证了该方法的预期运行。
