연결극점을 이용한 다중로봇의 대형유지
Formation-Keeping of Multiple Robots using Chained-Poles
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
We propose a formation-keeping and changing methods for outdoor multiple mobile robots in chained form. Our proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. The client robots use a behavior-based control to perform kinematic control to keep formation under the centralized system in our software framework. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.
Abstract
We propose a formation-keeping and changing methods for outdoor multiple mobile robots in chained form. Our proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential field. The client robots use a behavior-based control to perform kinematic control to keep formation under the centralized system in our software framework. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performed using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.
참고문헌 (7)
- John H. Rief, "Social potential fields: A distributed behavioral control for autonomous robots", Robotics and Autonomous System, 27, pp.171~194 (1999)
- Andrew Howard, "Mobile Sensor Network Deployment using Potential Field: A Distributed, Scalable Solution to the Area Coverage Problem" (2002), In Proc. Of the 6th Int’l symposium on DARS02
- On Multiple moving objects, "M. Erdann", ~ (1986)
- S. Fortune, "Coordinated motion of two robot arms", pp.1216~1223 (1986), Proc. of IEEE Conf. on Robotics and Automation
- Artificial social system: Part I, "Y. Moses", ~ (1990)
- On formal aspects of artificial social systems, "Y. Moses", ~ (1991)
- Harry Chia-Hung Hsu, "Multiagent -Based Multi-team Formation Control for Mobile Robots", Journal of Intelligent and Robotic Systems, 42, pp.337~360 (2005)