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 |
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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 1 |
Keywords
- "Leader-Following" strategy
- Ability of a robot
- Autonomous decentralized control
- Collision avoidance
- Formation control
- Performance index
- RT-Messenger
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering