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: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
語言英文
ISSN1109-2777
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
國別希臘
公開徵稿
出版型式紙本
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