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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65261


    Title: A Method for Obstacle Avoidance in Role Reassignment of Robot Formation Control
    Authors: Chen, Yu-Cheng;Wang, Yin-Tien
    Contributors: 淡江大學機械與機電工程學系
    Keywords: - Obstacle avoidance;Formation control;Role assignment;Robot control
    Date: 2009-08
    Issue Date: 2011-10-20 21:35:14 (UTC+8)
    Publisher: Zographou: World Scientific and Engineering Academy and Society (W S E A S)
    Abstract: In the paper, an algorithm for the obstacle avoidance and a procedure for the role reassignment of robot formation control based on this algorithm are proposed. This algorithm contains an edge detector that is used to determine the position of the vertical edges of the obstacle in the environment. Meanwhile, a motion controller is also designed in this research based on the dynamic equation for robots. The developed algorithm is applied to the formation control of omni-directional driven 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.
    Relation: WSEAS Transactions on Systems 8(8), pp.1031-1040
    DOI: 10.1023/A:1008937911390
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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