다개체 이동 로봇을 위한 협동 제어 방법론 Cooperative Control Method for Multiple Mobile Robots

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This paper presents a cooperative control method for multiple mobile robots with local sensors. The method consists of two steps. In the first step, we design global control plans for multiple robots, which include task allocation, and task change plans to complete the goal. In the second step, we design control logic and error recovery method for individual robots. Sensor information is integrated by merging similar sensor states together using AND/OR logic. Unique control commands are generated by eliminating logical conflicts using transition firing sequences in the Petri nets. Errors are recovered by changing control commands dynamically using reference and control models. To demonstrate the effectiveness of the proposed method, the object-searching task is evaluated. This task is to search an object like a box using two robots, and consists of two sub-tasks, i.e., a wall tracking task and a robot tracking task. Simulation results of the object-searching task, the wall tracking task, and the error recovery methods are presented.
Publisher
대한기계학회
Issue Date
1998-05
Language
Korean
Citation

대한기계학회논문집 A, v.22, no.5, pp.877 - 888

ISSN
1226-4873
URI
http://hdl.handle.net/10203/75500
Appears in Collection
ME-Journal Papers(저널논문)
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