In this paper, the optimal formation of a team of wheeled robot is dealt with for manipulating a common object. The robotic team has been commanded to transport the object from an initial pose along a specified path to a terminal pose. To this end, a proper cost function encompassing various aspects will be established and the grasping points of the object will be then determined employing various numerical optimization techniques such as Simulated Annealing, Genetic Algorithm and Particle Swarm Optimization. Finally, the team is controlled using a virtual structure-based approach and multiple-impedance-control strategy so as the obtained optimal formation can be realized.
Accepted:
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Adel Abbaspour 1; Khalil Alipour 2; Hadi Zare Jafari 1; S. Ali A. Moosavian 1
@article{CRMECA_2015__343_5-6_307_0, author = {Adel Abbaspour and Khalil Alipour and Hadi Zare Jafari and S. Ali A. Moosavian}, title = {Optimal formation and control of cooperative wheeled mobile robots}, journal = {Comptes Rendus. M\'ecanique}, pages = {307--321}, publisher = {Elsevier}, volume = {343}, number = {5-6}, year = {2015}, doi = {10.1016/j.crme.2015.04.003}, language = {en}, }
TY - JOUR AU - Adel Abbaspour AU - Khalil Alipour AU - Hadi Zare Jafari AU - S. Ali A. Moosavian TI - Optimal formation and control of cooperative wheeled mobile robots JO - Comptes Rendus. Mécanique PY - 2015 SP - 307 EP - 321 VL - 343 IS - 5-6 PB - Elsevier DO - 10.1016/j.crme.2015.04.003 LA - en ID - CRMECA_2015__343_5-6_307_0 ER -
%0 Journal Article %A Adel Abbaspour %A Khalil Alipour %A Hadi Zare Jafari %A S. Ali A. Moosavian %T Optimal formation and control of cooperative wheeled mobile robots %J Comptes Rendus. Mécanique %D 2015 %P 307-321 %V 343 %N 5-6 %I Elsevier %R 10.1016/j.crme.2015.04.003 %G en %F CRMECA_2015__343_5-6_307_0
Adel Abbaspour; Khalil Alipour; Hadi Zare Jafari; S. Ali A. Moosavian. Optimal formation and control of cooperative wheeled mobile robots. Comptes Rendus. Mécanique, Volume 343 (2015) no. 5-6, pp. 307-321. doi : 10.1016/j.crme.2015.04.003. https://comptes-rendus.academie-sciences.fr/mecanique/articles/10.1016/j.crme.2015.04.003/
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