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

Hiromasa Takahashi, Kouhei Ohnishi

研究成果: Paper査読

3 被引用数 (Scopus)

抄録

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.

本文言語English
ページ2041-2046
ページ数6
DOI
出版ステータスPublished - 2003 12月 1
イベントThe 29th Annual Conference of the IEEE Industrial Electronics Society - Roanoke, VA, United States
継続期間: 2003 11月 22003 11月 6

Other

OtherThe 29th Annual Conference of the IEEE Industrial Electronics Society
国/地域United States
CityRoanoke, VA
Period03/11/203/11/6

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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