| Multiple-Obstacle Avoidance and Role Reassignment in Robot Formation Control | |
|---|---|
| 學年 | 100 |
| 學期 | 1 |
| 出版（發表）日期 | 2011-08-01 |
| 作品名稱 | Multiple-Obstacle Avoidance and Role Reassignment in Robot Formation Control |
| 作品名稱（其他語言） | |
| 著者 | Wang, Yin-Tien; Chen, Yu-Cheng |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Valencia: American Scientific Publishers |
| 著錄名稱、卷期、頁數 | Advanced Science Letters 4(8-10), pp.2864-2868 |
| 摘要 | In the paper, an algorithm for the multiple-obstacle avoidance and a procedure of the role reassignment for multiple-robot formation control based on this algorithm are proposed. In this algorithm, an edge detector is utilized to determine the position of vertical edges of the obstacle in the nearby environment. A role reassignment procedure is also developed for formation control of multiple mobile robots by calculating the character cost of each robot. The character cost is related to the degree of difficulty for a robot been assigned a specified character in a formation. The developed algorithm and procedure are applied to the formation control of robots. Simulation and experiment are performed to verify the proposed algorithm and the results show that the performance of the proposed algorithm for obstacle avoidance and procedure for role reassignment are efficient for robot formation control. |
| 關鍵字 | Obstacle avoidance; Formation control; Role assignment; Robot control |
| 語言 | en |
| ISSN | 1936-6612 1936-7317 |
| 期刊性質 | |
| 收錄於 | SCI |
| 產學合作 | |
| 通訊作者 | Wang, Yin-Tien |
| 審稿制度 | 是 |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | 電子版 紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/57950 ) |
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