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 Generalized Framework of Dynamic Role Assignment for Robot Formation Control
學年99
學期1
出版(發表)日期2010/12/01
作品名稱A Generalized Framework of Dynamic Role Assignment for 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Heidelberg: Springer
著錄名稱、卷期、頁數International Journal of Control, Automation, and Systems 8(6), pp.1288-1295
摘要A dynamic role assignment algorithm is proposed in the paper for formation control of multiple mobile robots. The goal of the algorithm is to reassign a role for each robot automatically during a formation is forming or switching. Many formation control systems have been successfully implemented and validated by supporting experimental results. Nevertheless, this research aims at providing an efficient algorithm of role assignment for a class of formation control systems employing the concept of combinational optimization problems. Specifically, by exploring spatial relationship between robots and information of obstacles surrounding the robots, a character cost function is found to represent the degree of difficulty for a robot been assigned a specified role in a formation. Instead of using complex cost minimization procedure, a solution is provided by calculating the largest value of character set fitness, and a new formation is selected for robots accordingly. The developed algorithm is applied to the formation control of a group omni-directional driven robots. Simulation and experimentation are performed with real platform to verify the proposed algorithm and the results show that the performance of the proposed dynamic role assignment algorithm is efficient for robot formation control.
關鍵字Dynamic role assignment; Formation control; Multi-agent system; Obstacle avoidance
語言英文
ISSN1598-6446;2005-4092
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者Wang, Yin-tien
審稿制度
國別德國
公開徵稿
出版型式電子版;紙本;
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