English  |  正體中文  |  简体中文  |  Items with full text/Total items : 49521/84656 (58%)
Visitors : 7583430      Online Users : 59
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version
    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/76161


    Title: Multiple-Obstacle Avoidance in Role Reassignment of Formation Control
    Authors: Wang, Yin-tien;Chen, Yu-cheng
    Contributors: 淡江大學機械與機電工程學系
    Keywords: Obstacle avoidance;Role assignment;Formation control;Multi-robot systems
    Date: 2012-05-01
    Issue Date: 2012-05-02 18:59:44 (UTC+8)
    Publisher: Calgary: ACTA Press
    Abstract: This paper presents an algorithm for multiple-obstacle avoidance and a procedure of the role reassignment for robot formation control. The obstacle avoidance algorithm contains a bitwise logical operator which is utilized to distinguish between single and multiple obstacles in the immediate environment. The role for each robot must be reassigned during a robot formation being switching and the role reassignment procedure is designed based on the spatial relationship between the robots in the formation. Meanwhile, a motion controller is designed in this research based on the kinematics equation of the robots. The developed algorithm and procedure are applied to control the formation of a group omni-directional driven robots. Simulations and experiments are carried out on a real platform to validate the proposed algorithms. The results show that the performance of the integration of the role reassignment procedure with the multiple-obstacle avoidance algorithm is efficient for robot formation control.
    Relation: International Journal of Robotics and Automation 27(2), pp.177-184
    DOI: 10.2316/Journal.206.2012.2.206-3430
    Appears in Collections:[機械與機電工程學系暨研究所] 期刊論文

    Files in This Item:

    File Description SizeFormat
    Wang2012IJRA206-3430.pdf3960KbAdobe PDF238View/Open

    All items in 機構典藏 are protected by copyright, with all rights reserved.


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