NDLI: An Optimization Based Approach for Relative Localization and Relative Tracking Control in Multi-Robot Systems

Content Provider	Springer Nature Link
Author	Mehrez, Mohamed W. I. Mann, George K. Gosine, Raymond G.
Copyright Year	2016
Abstract	In this paper, an optimization based method is used for relative localization and relative trajectory tracking control in Multi-Robot Systems (MRS’s). In this framework, one or more robots are located and commanded to follow time varying trajectories with respect to another (possibly moving) robot reference frame. Such systems are suitable for a considerable number of applications, e.g. patrolling missions, searching operations, perimeter surveillance, and area coverage. Here, the nonlinear and constrained motion and measurement models in an MRS are incorporated to achieve an accurate state estimation algorithm based on nonlinear Moving Horizon Estimation (MHE) and a tracking control method based on Nonlinear Model Predictive Control (NMPC). In order to fulfill the real-time requirements, a fast and efficient algorithm based on a Real Time Iteration (RTI) scheme and automatic C-code generation, is adopted. Numerical simulations are conducted to: first, compare the performance of MHE against the traditional estimator used for relative localization, i.e. extended Kalman filter (EKF); second, evaluate the utilized relative localization and tracking control algorithm when applied to a team of multiple robots; finally, laboratory experiments are performed, for real-time performance evaluation. The conducted simulations validated the adopted algorithm and the experiments demonstrated its practical applicability.
Starting Page	385
Ending Page	408
Page Count	24
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	85
Issue Number	2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-08-12
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Multi-robot systems Relative localization Relative trajectory tracking control Fast MHE and NMPC Code generation Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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