Comptes Rendus
no. 5-6
Optimal formation and control of cooperative wheeled mobile robots
Adel Abbaspour1  ; Khalil Alipour2  ; Hadi Zare Jafari1  ; S. Ali A. Moosavian1
1 Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K.N. Toosi University of Technology, 19991 43344, Tehran, Iran
2 Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
Comptes Rendus. Mécanique, Volume 343 (2015) no. 5-6, pp. 307-321.

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.

Reçu le :
Accepté le :
Publié le :
DOI : 10.1016/j.crme.2015.04.003
Mots clés : Wheeled mobile robot, Optimal formation, Automatic control, Numerical methods, Formation control
Adel Abbaspour 1 ; Khalil Alipour 2 ; Hadi Zare Jafari 1 ; S. Ali A. Moosavian 1

1 Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, K.N. Toosi University of Technology, 19991 43344, Tehran, Iran
2 Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran 
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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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