Abstract
The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.
| Original language | English |
|---|---|
| Pages (from-to) | 1272-1279 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Industrial Electronics |
| Volume | 51 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2004 Dec |
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Keywords
- "Leader-Following" strategy
- Ability of a robot
- Autonomous decentralized control
- Collision avoidance
- Formation control
- Performance index
- RT-Messenger
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Instrumentation
Cite this
Autonomous decentralized control for formation of multiple mobile robots considering ability of robot. / Takahashi, Hiromasa; Nishi, Hiroaki; Ohnishi, Kouhei.
In: IEEE Transactions on Industrial Electronics, Vol. 51, No. 6, 12.2004, p. 1272-1279.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Autonomous decentralized control for formation of multiple mobile robots considering ability of robot
AU - Takahashi, Hiromasa
AU - Nishi, Hiroaki
AU - Ohnishi, Kouhei
PY - 2004/12
Y1 - 2004/12
N2 - The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.
AB - The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.
KW - "Leader-Following" strategy
KW - Ability of a robot
KW - Autonomous decentralized control
KW - Collision avoidance
KW - Formation control
KW - Performance index
KW - RT-Messenger
UR - http://www.scopus.com/inward/record.url?scp=10044298657&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=10044298657&partnerID=8YFLogxK
U2 - 10.1109/TIE.2004.837848
DO - 10.1109/TIE.2004.837848
M3 - Article
AN - SCOPUS:10044298657
VL - 51
SP - 1272
EP - 1279
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
SN - 0278-0046
IS - 6
ER -