Formation Control of Multi-robot Motion Systems and State Estimation using Extended Kalman Filter

Prima Aditya, Erna Apriliani, Guisheng Zhai, Didik Khusnul Arif

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

The multi-robot motion system is a dynamical system from a group of robots which moved in an unknown environment. Multi-robot is the development of a single robot that can overcome cooperative motion by utilizing information from its neighbours. We consider the formation of controls imposed on the observed multi-robot motion system. Robots that have different starting points will then be controlled to a meeting point (rendezvous), then controlled to move in a formation at a specified speed. The movements trajectory of these robots observed will be estimated using the Extended Kalman filter method. The purpose of this estimation is to observe the movement of robots when we have minimum measurement data. This method is one example of a data assimilation method which is combining model system and measurement system to get better approximation. The results of the tracking estimation are very good with very small error.

本文言語English
ホスト出版物のタイトルProceeding of 2019 International Conference on Electrical Engineering and Informatics, ICEEI 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ99-104
ページ数6
ISBN(電子版)9781728124186
DOI
出版ステータスPublished - 2019 7
イベント7th International Conference on Electrical Engineering and Informatics, ICEEI 2019 - Bandung, Indonesia
継続期間: 2019 7 92019 7 10

出版物シリーズ

名前Proceedings of the International Conference on Electrical Engineering and Informatics
2019-July
ISSN(印刷版)2155-6830

Conference

Conference7th International Conference on Electrical Engineering and Informatics, ICEEI 2019
国/地域Indonesia
CityBandung
Period19/7/919/7/10

ASJC Scopus subject areas

  • 情報システム
  • 電子工学および電気工学

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