Autonomous decentralized control for formation of multiple mobile robots considering ability of robot
Takahashi, H.
Nishi, H.
Ohnishi, K.
Dept. of Syst. Design Eng., Keio Univ., Yokohama, Japan;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Dec. 2004
Volume: 51,
Issue: 6
On page(s): 1272- 1279
ISSN: 0278-0046
INSPEC Accession Number: 8201271
Digital Object Identifier: 10.1109/TIE.2004.837848
Current Version Published: 2004-11-22
Abstract
The purpose of this study is to control multiple mobile robots in formation considering the ability of a robot using the "Leader-Following" strategy. There are three features of this study. First, a performance index that shows mobile robot ability is quantified. Specifically, maximum acceleration and maximum velocity of a robot are defined by maximum admissible rotation and maximum continuous torque of a motor. The performance index is quantified from arrival time on the destination using these parameters. Second, a new controller is proposed based on the performance index, so that robots can be controlled according to robot ability. Third, a compliance controller using a virtual repulsion is suggested in this paper, so that each robot can avoid collision. Finally, simulation and experiments are done in a real-time system using RT-Messenger. RT-Messenger allows robots to transmit information regarding their positions to each other in real time. These results shows the validity of the proposed method.
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