Mobil Robotların Formasyon Kontrolünde Giriş Kısıtlamaları

Bu çalışmada, Giriş/Çıkış Doğrusallaştırma Tekniği ile, holonomik olmayan mobil robotlara Lider-Takipçi Formasyon Kontrolü uygulandığında, daha iyi sonuçlar veren başlangıç koşulları araştırılmıştır. Başlangıç koşulları bir lider ve iki takipçi robotta denenmiştir. Kontrol kuralı, ilk takipçinin lidere göre istenilen mesafe ve açıyı; ikinci takipçinin lidere göre ve ilk takipçiye göre istenilen mesafeyi koruması şeklindedir. Simülasyonlarda başlangıç koordinatları, hızları ve açılarının değiştirilmesinin robotların tüm lider-takipçi yolculuğunda farklı davranmasına sebep olduğu gözlemlenmiştir. Makalenin sonunda, en iyi takip için optimal başlangıç koşulları önerilmiştir.

Anahtar Kelimeler:

Robot formasyonu, sürü robotları, formasyon kontrolü

Input Constraints in Formation Control of Mobile Robots

The paper investigates the better possible combined initial conditions of leader-follower formations of nonholonomic mobile robots for Input/Output Linearization Technique. Initial conditions are applied to two followers and one leader robot. The first follower tries to maintain desired distance and angle towards the leader while the second follower tries to maintain desired distances to the first follower and the leader. In simulations, it is observed that, changing initial relative positions and velocities as well as angles can cause robots act differently throughout the whole leader- follower trajectory. At the end, optimum initial conditions are proposed for the best trajectory.

Keywords:

Robot formation, swarm robotics, formation control,

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