Diseño, control y simulación, mediante el uso del entorno ROS/GAZEBO, de un sistema multi-agente conformado por plataformas turtlebot3 enfocado a mantener una formación líder seguidor : tomo 2.

Abstract

The research perspectives in collaborative robotics have been generating great interest because of the advantages of using several robots to perform different complex tasks. For this reason, this project focuses on the development of an homogeneous robotic multi-agent system where several robots or agents of similar characteristics execute actions in order to perform a task together, such as robot formation. This application is generally developed in order to help in aspects that could represent a substantial risk, such as minefield inspection, the transport of heavy or dangerous objects, among others. There are several techniques to coordinate the formation of a robotic groups, one of them and possibly the most used is the follower-leader approach. In this one, the follower robot must maintain a position at a defined distance and angle with respect to the leader robot. Therefore, this work is based on this technique and it is applied to allow a user to control the formation through the leader robot and considering 4 possible configurations: row, column, V and diamond. To achieve this goal, this project employs the virtual version of mobile robot platform TurtleBot3 and it is used together with the open source software ROS and Gazebo. In this fashion, a virtual scenario is implemented where it is possible to execute the control actions for the different agents of the robotic group, so they can move and perform the formations commanded by the user