並列摘要
Inspired by the collaboration of ants in nature, it is expected that Automated Guided Vehicles (AGVs) used in factories can break the size limit and work together to improve the flexibility of factory automation and manufuacting. In this study, a leader-follower formation control architecture that allows multiple robots to maintain a formation and to move to the destination at the same time is developed, discussed and validated. Finally, Robot Operation System (ROS) and Gazebo simulator are adopted to verify the proposed control architecture. The simulation results with the proposed method demonstrate the formation control performance.
延伸閱讀
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