Redefinindo a Estrutura Virtual para Controle de Dois Robôs Móveis

Abstract

This work addresses the problem of controlling a formation composed either by two unmanned aerial vehicles (UAVs) or by a UAV and an unmanned ground vehicle (UGV). It adopts the control paradigm of virtual structure, which is the line connecting the two robots. An alternative characterization of the virtual structure is proposed, characterizing a novel framework, whose advantages and drawbacks are discussed. The proposed formation controller generates references for the time variation of the formation variables in the formation space, which are mapped to velocities in the robots space, dynamically compensated using the feedback linearization technique. Experiments are run to validate our proposal, considering a quadrotor and a differential drive wheeled mobile robot. The obtained results are presented through illustrations and videos, making clear the advantages of the proposed characterization of the line correspondent to the virtual structure.