Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot

Hiromasa Takahashi, Kouhei Ohnishi

Research output: Contribution to conferencePaper

3 Citations (Scopus)

Abstract

The studies about multiple mobile robots have been developed. Formation control is an important theme since it is applicable in various themes. "Leader-Following" strategy is a suitable method for controlling multiple mobile robots in formation. Because it is easy to control robots and to express a formation of robots. But in this strategy, it is difficult to consider the ability gap of a robot like human being. In respect of autonomous decentralized control, it is important to control robots in most suitable formation considering the ability of a robot. Each robot has to be controlled by each controller according to the ability. The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using "Leader-Following"strategy. At first, new idea which is called performance index is denned and new controller is proposed based on performance index. Second, compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally simulation results show the validity of the proposed method.

Original languageEnglish
Pages2041-2046
Number of pages6
DOIs
Publication statusPublished - 2003 Dec 1
EventThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
Duration: 2003 Nov 22003 Nov 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
CountryUnited States
CityRoanoke, VA
Period03/11/203/11/6

Keywords

  • Ability of a Robot
  • Autonomous Decentralized Control
  • Collision Avoidance
  • Formation Control
  • Leader-Following Strategy
  • Performance Index

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot'. Together they form a unique fingerprint.

  • Cite this

    Takahashi, H., & Ohnishi, K. (2003). Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot. 2041-2046. Paper presented at The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, United States. https://doi.org/10.1109/IECON.2003.1280557