A Method for Obstacle Avoidance in Role Reassignment of Robot Formation Control
學年 98
學期 1
出版(發表)日期 2009-08-01
作品名稱 A Method for Obstacle Avoidance in Role Reassignment of Robot Formation Control
作品名稱(其他語言)
著者 Chen, Yu-Cheng; Wang, Yin-Tien
單位 淡江大學機械與機電工程學系
出版者 Zographou: World Scientific and Engineering Academy and Society (W S E A S)
著錄名稱、卷期、頁數 WSEAS Transactions on Systems 8(8), pp.1031-1040
摘要 In the paper, an algorithm for the obstacle avoidance and a procedure for the role reassignment of robot formation control based on this algorithm are proposed. This algorithm contains an edge detector that is used to determine the position of the vertical edges of the obstacle in the environment. Meanwhile, a motion controller is also designed in this research based on the dynamic equation for robots. The developed algorithm is applied to the formation control of omni-directional driven 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 en
ISSN 1109-2777
期刊性質 國外
收錄於 EI
產學合作
通訊作者 Wang, Yin-Tien
審稿制度
國別 GRC
公開徵稿
出版型式 紙本
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