Desvio de Obstáculos Via Espaço Nulo para uma Formação Robô Aéreo - Robô Terrestre

Mauro Sérgio M. Moreira; Mário Sarcinelli Filho

doi:10.20906/SBAI-SBSE-2023/4019

Mauro Sérgio M. Moreira Programa de Pós-Graduação em Engenharia Elétrica - Universidade Federal do Espírito Santo, Vitória, ES
Mário Sarcinelli Filho Programa de Pós-Graduação em Engenharia Elétrica - Universidade Federal do Espírito Santo, Vitória, ES

DOI: https://doi.org/10.20906/SBAI-SBSE-2023/4019

Keywords: Obstacle Avoidance, Null Space Behavioral Control, Warehouse Automation, Multirobot Systems, Autonomous Robots, Nonlinear Control

Abstract

A null space behavioral controller is proposed for a UGV-UAV multirobot system, with obstacle deviation. Virtual structure is the control paradigm adopted, to move the robots keeping a desired formation shape. The UGV maneuvers to avoid obstacles in the ground and the UAV maneuvers to avoid obstacles in the air. The focus of the work is to check how the formation shape behaves under obstacle deviation. The scenario is an automated warehouse, where the formation carries out an inventory.