教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題:Multiple-Obstacle Avoidance and Role Reassignment in Robot Formation Control
學年100
學期1
出版(發表)日期2011/08/01
作品名稱Multiple-Obstacle Avoidance and Role Reassignment in Robot Formation Control
作品名稱(其他語言)
著者Wang, Yin-Tien; Chen, Yu-Cheng
單位淡江大學機械與機電工程學系
出版者Valencia: American Scientific Publishers
著錄名稱、卷期、頁數Advanced Science Letters 4(8-10), pp.2864-2868
摘要In the paper, an algorithm for the multiple-obstacle avoidance and a procedure of the role reassignment for multiple-robot formation control based on this algorithm are proposed. In this algorithm, an edge detector is utilized to determine the position of vertical edges of the obstacle in the nearby environment. A role reassignment procedure is also developed for formation control of multiple mobile robots by calculating the character cost of each robot. The character cost is related to the degree of difficulty for a robot been assigned a specified character in a formation. The developed algorithm and procedure are applied to the formation control of robots. Simulation and experiment are performed to verify the proposed algorithm and the results show that the performance of the proposed algorithm for obstacle avoidance and procedure for role reassignment are efficient for robot formation control.
關鍵字Obstacle avoidance; Formation control; Role assignment; Robot control
語言英文
ISSN1936-6612;1936-7317
期刊性質
收錄於SCI;
產學合作
通訊作者Wang, Yin-Tien
審稿制度
國別美國
公開徵稿
出版型式電子版;紙本;
相關連結
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