期刊論文
| 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 | en |
| ISSN | 1598-6446 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 | 是 |
| 國別 | DEU |
| 公開徵稿 | |
| 出版型式 | 電子版 紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/73512 ) |