Nonlinear Formation Control for a Cooperative Load Pushing

摘要

The main issue addressed in this work is multi-robot formation control for cooperative load pushing. Specifically, the principal concern is how to achieve and maintain a formation of two or more inexpensive robots to keep them in contact with the load and coordinate their movement in order to perform the task. Also a final position controller is implemented for defining the load motion towards a desired position. The presented results are encouraging and motivate the future steps.