Autonomous decentralized control for formation of multiple mobile robots considering ability of robot
Autonomous decentralized control for formation of multiple mobile robots considering ability of robot
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DOI：
10.1109/tie.2004.837848
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发表时间：
2004-11
影响因子：
7.7
通讯作者：
H. Takahashi;H. Nishi;K. Ohnishi
中科院分区：
文献类型：
--
作者：
H. Takahashi;H. Nishi;K. Ohnishi
本研究的目的是考虑机器人使用“领导者-跟随”策略的能力来控制多个移动机器人的信息。本研究有三个特点。首先，对显示移动机器人能力的性能指标进行量化。具体来说，机器人的最大加速度和最大速度由电机的最大允许转速和最大连续转矩来定义。使用这些参数从到达目的地的时间来量化性能指数。其次，提出了一种基于性能指标的新型控制器，使机器人能够根据其能力进行控制。第三，提出了一种采用虚拟斥力的顺应控制器，使各机器人能够避免碰撞。最后，利用RT-Messenger在实时系统中进行了仿真和实验。RT-Messenger可以让机器人互相实时传送位置信息。结果表明了该方法的有效性。
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.