Autonomous decentralized control for formation of multiple mobile-robots considering ability of robot

IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468) Pub Date : 2003-12-01 DOI:10.1109/IECON.2003.1280557

H. Takahashi, K. Ohnishi

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引用次数: 5

Abstract

The studies about multiple mobile robots have been developed. Formation control is an important theme since it is applicable in various themes. "Leader-following" strategy is a suitable method for controlling multiple mobile robots in formation. It is because it is easy to control robots and to express a formation of robots. But in this strategy, it is difficult to consider the ability gap of a robot like human being. In respect of autonomous decentralized control, it is important to control robots in most suitable formation considering the ability of a robot. Each robot has to be controlled by each controller according to the ability. The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using "leader-following" strategy. At first, new idea which is called performance index is defined and new controller is proposed based on performance index. Second, compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally simulation results show the validity of the proposed method.

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考虑机器人能力的多移动机器人编队自主分散控制

对多移动机器人的研究已经展开。编队控制是一个重要的主题，因为它适用于各种主题。“领导者-跟随”策略是一种适用于多移动机器人编队控制的方法。这是因为它很容易控制机器人和表达一个机器人的编队。但是在这个策略中，很难考虑到像人类这样的机器人的能力差距。在自主分散控制中，考虑机器人的能力，将机器人控制在最合适的队形是很重要的。每个机器人必须由每个控制器根据其能力进行控制。本研究的目的是考虑机器人使用“领导者-跟随”策略的能力来控制多个移动机器人的信息。首先定义了性能指标的概念，并基于性能指标提出了新的控制器。其次，本文提出了采用虚拟斥力的顺应控制器，使每个机器人都能避免碰撞。仿真结果表明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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IECON'03. 29th Annual Conference of the IEEE Industrial Electronics Society (IEEE Cat. No.03CH37468)

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