淡江大學機構典藏:Item 987654321/73512
English  |  正體中文  |  简体中文  |  全文筆數/總筆數 : 62822/95882 (66%)
造訪人次 : 4014397      線上人數 : 825
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜尋範圍 查詢小技巧：
  • 您可在西文檢索詞彙前後加上"雙引號"，以獲取較精準的檢索結果
  • 若欲以作者姓名搜尋，建議至進階搜尋限定作者欄位，可獲得較完整資料
    •  進階搜尋


    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/73512


    題名: A Generalized Framework of Dynamic Role Assignment for Robot Formation Control
    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: Dynamic role assignment;Formation control;Multi-agent system;Obstacle avoidance
    日期: 2010-12
    上傳時間: 2011-10-27 22:05:49 (UTC+8)
    出版者: Heidelberg: Springer
    摘要: A dynamic role assignment algorithm is proposed in the paper for formation control of multiple mobile robots. The goal of the algorithm is to reassign a role for each robot automatically during a formation is forming or switching. Many formation control systems have been successfully implemented and validated by supporting experimental results. Nevertheless, this research aims at providing an efficient algorithm of role assignment for a class of formation control systems employing the concept of combinational optimization problems. Specifically, by exploring spatial relationship between robots and information of obstacles surrounding the robots, a character cost function is found to represent the degree of difficulty for a robot been assigned a specified role in a formation. Instead of using complex cost minimization procedure, a solution is provided by calculating the largest value of character set fitness, and a new formation is selected for robots accordingly. The developed algorithm is applied to the formation control of a group omni-directional driven robots. Simulation and experimentation are performed with real platform to verify the proposed algorithm and the results show that the performance of the proposed dynamic role assignment algorithm is efficient for robot formation control.
    關聯: International Journal of Control, Automation, and Systems 8(6), pp.1288-1295
    DOI: 10.1007/s12555-010-0614-9
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文

    文件中的檔案:

    檔案 描述 大小格式瀏覽次數
    index.html0KbHTML16檢視/開啟

    在機構典藏中所有的資料項目都受到原著作權保護.

    TAIR相關文章

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