Conference Paper

Adaptive formation control of a fleet of mobile robots: Application to autonomous field operations.

Cemagref, Aubière, France
DOI: 10.1109/ROBOT.2010.5509136 Conference: Robotics and Automation (ICRA), 2010 IEEE International Conference on
Source: IEEE Xplore

ABSTRACT The necessity of decreasing the environmental impact of agricultural activities, while preserving in the same time the level of production to satisfy the growing population demand, requires to investigate new production tools. Mobile robotic can constitute a promising solution, since autonomous devices may permit to increase production level, while reducing pollution thanks to a high accuracy. In this paper, the use of several mobile robots for field treatment is investigated. It is here considered that they can exchange data through wireless communication, and a formation control law, accurate despite typical off-road conditions (low grip, terrain irregularities, etc), is designed relying on nonlinear observer-based adaptive control. The algorithm proposed in this paper is tested through advanced simulations in order to study separately its capabilities, as well as experimentally validated.

0 Bookmarks
 · 
159 Views
  • [Show abstract] [Hide abstract]
    ABSTRACT: Mobile robotics constitutes a promising way to reduce the environmental impact of agricultural activities while preserving the level of production to satisfy the growing population demand. In previous work, a formation control law, accurate despite typical off-road conditions (low grip, terrain irregularities, etc), based on a nonlinear observer-based adaptive control has been presented. Satisfactory advanced results have been reported in lateral servoing but inaccuracies in longitudinal regulation have been noticed. In this paper a new predictive approach dedicated to both longitudinal and lateral servoing is proposed. We consider mobile robots made of a single body accounting for bad grip conditions thanks to an observer based approach. After presenting the modelling of the formation and the control law use to maintain longitudinal and lateral deviations with respect to the reference trajectory, we introduce the predictive approach on velocity. Full-scale experiments demonstrate the performance of the proposed approach.
    Robotics and Automation (ICRA), 2013 IEEE International Conference on; 01/2013

Full-text (3 Sources)

View
61 Downloads
Available from
May 21, 2014