Abstract
This work shows the development and implementation of a centralized trajectory tracking system for multi-robot systems, which is based on a kinematic trajectory controller for unicycle robots and subsequently transforming it to differential kinematics, a wireless network is also created for the communication of the master with the slave robots, additionally a method of prevention and avoidance of collisions between the robots is implemented.
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This research was funded by Project UDA 2019-0083, UDA 2019-0084 and UDA 2019-0230.
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Beltrán, C., Cabrera, A., Delgado, G., Iturralde, D. (2020). Centralized Trajectory Tracking Controller for a Multi-robot System. In: Botto-Tobar, M., Zambrano Vizuete, M., Torres-Carrión, P., Montes León, S., Pizarro Vásquez, G., Durakovic, B. (eds) Applied Technologies. ICAT 2019. Communications in Computer and Information Science, vol 1195. Springer, Cham. https://doi.org/10.1007/978-3-030-42531-9_27
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DOI: https://doi.org/10.1007/978-3-030-42531-9_27
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