Estudio, control e implementación de sistemas robóticos avanzados: aplicación de un algoritmo basado en consenso para un sistema multi-agente robótico simulado en CoppeliaSim y comandado desde MATLAB.

Abstract

Within the School of Electrical and Electronic Engineering at Escuela Politécnica Nacional, several research projects regarding the consensus of multi-agent systems have been carried out. Therefore, several final degree works developed based on this topic have inspired this work. This application focuses on the area of mobile robots since the Pioneer 3-DX platform is used together with a consensus algorithm for leader-follower type formations for containment trajectory tracking. To achieve this goal, a virtual environment based on CoppeliaSim working together with MATLAB is implemented. The development of this application begins with the trajectory tracking control of one robot and then it continues with the application of the consensus algorithm to a set of robots, which are considered as follower agents. For the leader agents, the concept of virtual leaders is used and they meet the necessary characteristics to participate in the consensus and allow to enclose a containment area within which the robotic agents interact based on consensus. From the test results, it is possible to verify the correct performance of the trajectory tracking of the multi-agent system, whose results are shown through a graphical interface designed for the command of the developed virtual environment.