| 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 | en |
| ISSN | 0826-8185 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 | 是 |
| 國別 | CAN |
| 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/987654321/76161 ) |
GoogleAnalytics