Title | ||
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Autonomous Decentralized Control for Formation of Multiple Mobile Robots Considering Ability of Robot |
Abstract | ||
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The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the \"Leader-Following\" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method. |
Year | DOI | Venue |
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2004 | 10.1109/TIE.2004.837848 | IEEE Transactions on Industrial Electronics |
Keywords | Field | DocType |
Mobile robots,Distributed control,Robot kinematics,Robot control,Performance analysis,Acceleration,Torque,Feedback,Control systems,Design engineering | Robot control,Control theory,Decentralised system,Torque,Control theory,Simulation,Control engineering,Collision,Acceleration,Engineering,Robot,Mobile robot | Journal |
Volume | Issue | ISSN |
51 | 6 | 0278-0046 |
Citations | PageRank | References |
18 | 1.75 | 10 |
Authors | ||
2 |
Name | Order | Citations | PageRank |
---|---|---|---|
Takahashi, H. | 1 | 18 | 1.75 |
Kiyoshi Ohishi | 2 | 415 | 71.48 |