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    請使用永久網址來引用或連結此文件: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/76161

    題名: Multiple-Obstacle Avoidance in Role Reassignment of Formation Control
    作者: Wang, Yin-tien;Chen, Yu-cheng
    貢獻者: 淡江大學機械與機電工程學系
    關鍵詞: Obstacle avoidance;Role assignment;Formation control;Multi-robot systems
    日期: 2012-05-01
    上傳時間: 2012-05-02 18:59:44 (UTC+8)
    出版者: Calgary: ACTA Press
    摘要: 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.
    關聯: International Journal of Robotics and Automation 27(2), pp.177-184
    DOI: 10.2316/Journal.206.2012.2.206-3430
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文


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