지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
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This paper proposes controller of leader robot considering following robot with input constraints based on leader-following approach. In the previous formation control researches, it was assumed that leader and follower is same object. If leader robot drives as maximum speed that the initial position errors still remain even if following robot have same velocity as a leader. In the situation that velocity of following robot is lower than its leader robot, following robot cannot follow leader robot. Furthermore, the following robot will not be able to made formation with leader robot and keep proximity communication or sensing range. Therefore, multiple mobile robot system using leader-following method should be guaranteed range to get information each other. In this paper, Leader robot is driving to goal position using linear controller and following robot is following trajectory to be made from leader robot. We assume that following robot has input constraints to realize different performance between leader robot and following robot. We design controller of leader robot for desired goal position including the errors between formation and following robot. Thus, we propose leader robot controller considering input constraints of following robot. Finally, we were able to confirm the validity of the proposed method based on simulation results.
목차
Abstract
1. 서론
2. 기구 학 모델 및 선도-추종 기법
3. 제어기 설계
4. 모의실험
5. 결론
참고문헌
저자소개
참고문헌 (23)
참고문헌 신청
1. [학술지(정기간행물)] - D. Cruz / 2007 / Decentralized cooperative control / IEEE Control Systems Magazine : 58 ~ 78
2. [학술지(정기간행물)] - J. T. Feddema / 2002 / Decentralized control of cooperative robotic vehicles:theory and application / IEEE Trans. on Roboticsand Automation 18 (5) : 852 ~ 864
3. [학술지(정기간행물)] - Y. Gu / 2006 / Design and flight testing evaluation of formation control laws / IEEE Trans. on Control Systems Technology 14 (6) : 1105 ~ 1112
4. [학술지(정기간행물)] - T. Balch / 1998 / Behavior-based formation control for multirobot, team / IEEE Trans. Robot and Automation 14 (6) : 926 ~ 939
5. [학술지(정기간행물)] - J. Fredslund / 2002 / A general algorithm for robot formation using local sensing and minimal communication / IEEE Trans. Robot and Automation 18 (5) : 837 ~ 846
2. [학술지(정기간행물)] - J. T. Feddema / 2002 / Decentralized control of cooperative robotic vehicles:theory and application / IEEE Trans. on Roboticsand Automation 18 (5) : 852 ~ 864
3. [학술지(정기간행물)] - Y. Gu / 2006 / Design and flight testing evaluation of formation control laws / IEEE Trans. on Control Systems Technology 14 (6) : 1105 ~ 1112
4. [학술지(정기간행물)] - T. Balch / 1998 / Behavior-based formation control for multirobot, team / IEEE Trans. Robot and Automation 14 (6) : 926 ~ 939
5. [학술지(정기간행물)] - J. Fredslund / 2002 / A general algorithm for robot formation using local sensing and minimal communication / IEEE Trans. Robot and Automation 18 (5) : 837 ~ 846
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UCI(KEPA) : I410-ECN-0101-2013-560-002669169