Algoritmo para obtener la formación de un grupo de robots autónomos

En este artículo se propone un algoritmo para obtener la formación de un grupo de robots mientras que en conjunto siguen una trayectoria en el espacio 3D. El algoritmo requiere conocer la trayectoria mencionada y con base en ello y los vectores de ubicación de cada robot dentro de la formación, calcula las trayectorias que cada uno debe seguir para lograr la formación y mantenerse dentro de ella. El control del seguimiento de trayectorias que cada robot realiza se logra, en este artículo, por medio de una ley de control prealimentada, la cual funciona debido a que el modelo considerado para los robots es el de una masa puntual. A new algorithm for solving the problem of controlling the formation of groups of autonomous vehicles modeled as point masses with input forces aligned to the axes of the coordinate system of space, it is proposed in this paper. The algorithm is based on the idea that the group of vehicles following a virtual or real leader, which is located at the origin of the coordinate system associated with the path, while each of the members of group are located within the formation through an eigenvector of each vehicle and that defines its position within the formation. This vector, which is always the same with respect to the coordinate system associated with the professional career, is transformed into another vector that changes and updates the vehicle's position relative to the axis of space. This new vector is generated by the individual path that each vehicle must continue to remain within the formation. To this end, it uses a feedforward control law, but could be used any available control law for path following.