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    請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65260

    題名: A Method for Multiple-Obstacle Avoidance of Soccer Robot Systems
    作者: Chen, Yu-cheng;Wang, Yin-tien
    貢獻者: 淡江大學機械與機電工程學系
    關鍵詞: Obstacle avoidance;Formation control;Role assignment Robot control
    日期: 2010-02
    上傳時間: 2011-10-20 21:35:08 (UTC+8)
    出版者: Kumamoto: ICIC International
    摘要: In the paper, an algorithm for the multiple-obstacle avoidance of the soccer robot system is proposed. In this algorithm, an edge detector is utilized to determine the position of vertical edges of the obstacle, and then a bitwise logical operator is designed to distinguish between single and multiple obstacles in the nearby environment. The developed algorithm is applied to the control of a group omni-directional driven robots playing the soccer game. Simulation and experiment are performed with a real platform with a real platform to verify the proposed algorithm, and the results show that the performance of the algorithm for the multiple-obstacle avoidance is efficient.
    關聯: Innovative Computing, Information and Control Express Letters 4(1), pp.161-166
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文


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