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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/76161

    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:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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