首页|New Robotics Findings Reported from Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV) (Leader-follower Formation Contro l Based On Non-inertial Frames for Non-holonomic Mobile Robots)
New Robotics Findings Reported from Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV) (Leader-follower Formation Contro l Based On Non-inertial Frames for Non-holonomic Mobile Robots)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in Robotics. According to news reporting from Mexico City, Mexico, by NewsRx journa lists, research stated, "A chain formation strategy based on mobile frames for a set of n differential drive mobile robots is presented. Considering two consecu tive robots in the formation, robots Ri and Ri+1." Funders for this research include Conahcyt, Conahcyt. The news correspondents obtained a quote from the research from the Center for R esearch and Advanced Studies of the National Polytechnic Institute (CINVESTAV), "It is intended that robot Ri+1 follows the delayed trajectory, tau units of tim e, of the leader robot Ri. In this way, the follower robot Ri+1 becomes the lead er robot for robot Ri+ 2 in the formation and so on. With this formation policy, the trailing distance between two consecutive robots varies accordingly to the velocity of the Ri leader robot. Mobile frames are located on the body of the ve hicles, in such a way that the position of robot Ri is determined with respect t o the frame located on Ri+1 robot. The strategy relies on the fact that the gene ral leader robot R1 describes any trajectory generated by bounded linear v1(t) a nd angular omega 1(t) velocities. For the remaining vehicles in the string, the strategy considers a desired trajectory for the follower robot Ri+1 obtained by an estimation of the delayed trajectory of the leader robot Ri. This desired est imated trajectory is obtained under the knowledge of the actual and past input v elocities of the Ri robot. To formally prove the convergence of the formation st rategy, the equations describing the time variation of the relative posture betw een any pair of consecutive vehicles in the formation are obtained, and a feedba ck law based on local measurements is proposed to get the convergence of robot R i+1 to the delayed trajectory, tau units of time, of the trajectory previously d escribed by robot Ri. Lyapunov techniques are considered for this fact."
Mexico CityMexicoNorth and Central A mericaEmerging TechnologiesMachine LearningNano-robotRobotRoboticsCe nter for Research and Advanced Studies of the National Polytechnic Institute (CI NVESTAV)
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