Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Obstacle avoidance of a mobile robot group using a nonlinear oscillator network

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

The purchase and pricing options are temporarily unavailable. Please try again later.
4 Author(s)
Kurabayashi, D. ; Sch. of Mechanical & Control Eng., Tokyo Inst. of Technol. ; Okita, K. ; Funato, T. ; Sakaematsu, R.

In this paper, we propose and implement a formation control algorithm for a mobile robot group. Although obstacle avoidance is a highly essential function, it is not compatible with maintaining a formation. In previous studies, robots often switched their motion algorithms. However, there no concrete criteria exists for such decisions. In this paper, we employ the synchronization of nonlinear oscillators that communicate with each other. By using sensor signals, we vary the phase gaps among the oscillators. According to these phase gaps, we change gains to form a group in order to avoid obstacles. We have implemented the proposed system using actual robotic systems and have demonstrated its feasibility

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006