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
N1 - Funding Information:
Manuscript received August 29, 2003; revised May 31, 2004. Abstract published on the Internet September 10, 2004. This work was supported by Special Coordination Funds of the Ministry of Education, Culture, Sports, Science and Technology of the Japanese Government.
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 -