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

Hiromasa Takahashi, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2041-2046
Number of pages6
Volume3
DOIs
Publication statusPublished - 2003
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

Fingerprint

Decentralized control
Mobile robots
Robots
Controllers

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Takahashi, H., & Ohnishi, K. (2003). Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot. In IECON Proceedings (Industrial Electronics Conference) (Vol. 3, pp. 2041-2046) https://doi.org/10.1109/IECON.2003.1280557

Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot. / Takahashi, Hiromasa; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 3 2003. p. 2041-2046.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Takahashi, H & Ohnishi, K 2003, Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot. in IECON Proceedings (Industrial Electronics Conference). vol. 3, pp. 2041-2046, The 29th Annual Conference of the IEEE Industrial Electronics Society, Roanoke, VA, United States, 03/11/2. https://doi.org/10.1109/IECON.2003.1280557
Takahashi H, Ohnishi K. Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot. In IECON Proceedings (Industrial Electronics Conference). Vol. 3. 2003. p. 2041-2046 https://doi.org/10.1109/IECON.2003.1280557
Takahashi, Hiromasa ; Ohnishi, Kouhei. / Autonomous Decentralized Control for Formation of Multiple Mobile-Robots Considering Ability of Robot. IECON Proceedings (Industrial Electronics Conference). Vol. 3 2003. pp. 2041-2046
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