Diseño y construcción de una plataforma robótica para el control de formación y distribución de tareas

Daniel Felipe Leon Cardona; Hernan Gonzalez Acuña; Carlos Forero Gonzalez

doi:10.24054/rcta.v1i39.1373

Authors

Daniel Felipe Leon Cardona Universidad Industrial de Santander https://orcid.org/0000-0001-6630-0522
Hernan Gonzalez Acuña Universidad Autónoma de Bucaramanga https://orcid.org/0000-0003-2118-2272
Carlos Forero Gonzalez Universidad Autónoma de Bucaramanga https://orcid.org/0000-0002-4607-2750

DOI:

https://doi.org/10.24054/rcta.v1i39.1373

Keywords:

Mobile robots, formation control, position control, computer vision

Abstract

The paper describes the design and construction of a robotic platform to test algorithms that allows formation control of multi robots and task distribution. First, the locomotion system and mobile robot sensors are selected. Moreover, the computer vision system to feedback the robot’s position is described. Then, the design of wheel speed control for each one and the selection of the distribution strategy of the mobile robots are presented. Finally, the results obtained for 2 types of formation robots are presented.

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References

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