English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 58239/91808 (63%)
造访人次 : 13790917      在线人数 : 79
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻

    jsp.display-item.identifier=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/987654321/65261

    题名: A Method for Obstacle Avoidance in Role Reassignment of Robot Formation Control
    作者: Chen, Yu-Cheng;Wang, Yin-Tien
    贡献者: 淡江大學機械與機電工程學系
    关键词: - Obstacle avoidance;Formation control;Role assignment;Robot control
    日期: 2009-08
    上传时间: 2011-10-20 21:35:14 (UTC+8)
    出版者: Zographou: World Scientific and Engineering Academy and Society (W S E A S)
    摘要: 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.
    關聯: WSEAS Transactions on Systems 8(8), pp.1031-1040
    DOI: 10.1023/A:1008937911390
    显示于类别:[機械與機電工程學系暨研究所] 期刊論文


    档案 大小格式浏览次数



    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈