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 in Role Reassignment of Formation Control
學年100
學期2
出版(發表)日期2012/05/01
作品名稱Multiple-Obstacle Avoidance in Role Reassignment of 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Calgary: ACTA Press
著錄名稱、卷期、頁數International Journal of Robotics and Automation 27(2), pp.177-184
摘要This paper presents an algorithm for multiple-obstacle avoidance and a procedure of the role reassignment for robot formation control. The obstacle avoidance algorithm contains a bitwise logical operator which is utilized to distinguish between single and multiple obstacles in the immediate environment. The role for each robot must be reassigned during a robot formation being switching and the role reassignment procedure is designed based on the spatial relationship between the robots in the formation. Meanwhile, a motion controller is designed in this research based on the kinematics equation of the robots. The developed algorithm and procedure are applied to control the formation of a group omni-directional driven robots. Simulations and experiments are carried out on a real platform to validate the proposed algorithms. The results show that the performance of the integration of the role reassignment procedure with the multiple-obstacle avoidance algorithm is efficient for robot formation control.
關鍵字Obstacle avoidance; Role assignment; Formation control; Multi-robot systems
語言英文
ISSN0826-8185;1925-7090
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
國別加拿大
公開徵稿
出版型式電子版;紙本;
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