Multiple-Obstacle Avoidance and Role Reassignment in Robot Formation Control
學年 100
學期 1
出版(發表)日期 2011-08-01
作品名稱 Multiple-Obstacle Avoidance and Role Reassignment in Robot 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 Valencia: American Scientific Publishers
著錄名稱、卷期、頁數 Advanced Science Letters 4(8-10), pp.2864-2868
摘要 In the paper, an algorithm for the multiple-obstacle avoidance and a procedure of the role reassignment for multiple-robot formation control based on this algorithm are proposed. In this algorithm, an edge detector is utilized to determine the position of vertical edges of the obstacle in the nearby environment. A role reassignment procedure is also developed for formation control of multiple mobile robots by calculating the character cost of each robot. The character cost is related to the degree of difficulty for a robot been assigned a specified character in a formation. The developed algorithm and procedure are applied to the formation control of 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 1936-6612 1936-7317
期刊性質
收錄於 SCI
產學合作
通訊作者 Wang, Yin-Tien
審稿制度
國別 USA
公開徵稿
出版型式 電子版 紙本
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