| A Method for Obstacle Avoidance in Role Reassignment of Robot Formation Control | |
|---|---|
| 學年 | 98 |
| 學期 | 1 |
| 出版（發表）日期 | 2009-08-01 |
| 作品名稱 | A Method for Obstacle Avoidance in Role Reassignment of Robot Formation Control |
| 作品名稱（其他語言） | |
| 著者 | Chen, Yu-Cheng; Wang, Yin-Tien |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Zographou: World Scientific and Engineering Academy and Society (W S E A S) |
| 著錄名稱、卷期、頁數 | WSEAS Transactions on Systems 8(8), pp.1031-1040 |
| 摘要 | In the paper, an algorithm for the obstacle avoidance and a procedure for the role reassignment of robot formation control based on this algorithm are proposed. This algorithm contains an edge detector that is used to determine the position of the vertical edges of the obstacle in the environment. Meanwhile, a motion controller is also designed in this research based on the dynamic equation for robots. The developed algorithm is applied to the formation control of omni-directional driven 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 | 1109-2777 |
| 期刊性質 | 國外 |
| 收錄於 | EI |
| 產學合作 | |
| 通訊作者 | Wang, Yin-Tien |
| 審稿制度 | |
| 國別 | GRC |
| 公開徵稿 | |
| 出版型式 | 紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65261 ) |
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