Abstract
When plural robots exist in the same workspace, first we have to decide robots in order to accomplish some tasks. There have been a lot of works that report how to control robots in cooperation, but there have been few works that report how to decide robots to be used. In this paper, a method for deciding a team of mobile robots is described. The aim of the team is to carry load in minimum working time. Working time is depend on some elements - distance between robot and load, torque a robot can output, maximum velocity and acceleration of robot, condition of robot, and so on. Each element as described above is named "ability" in this paper. For deciding a team, that is combination of robots, ability gaps in mobile robots are considered. Taking account of the ability gaps, a method for calculation of working time is described. To curtail the time of calculation and obtain a combination efficiently, genetic algorithm is introduced. Simulation and experiment result is shown to confirm the effectiveness of the method described in this paper.
| Original language | English |
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| Pages | 1561-1566 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2002 Dec 1 |
| Event | Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain Duration: 2002 Nov 5 → 2002 Nov 8 |
Other
| Other | Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society |
|---|---|
| Country/Territory | Spain |
| City | Sevilla |
| Period | 02/11/5 → 02/11/8 |
Keywords
- Ability gap
- Autonomous distributed system
- Cooperated task
- Genetic algorithm
- Mobile robot
- Team
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering