PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS

被引：0

作者：

Adinandra, Sisdarmanto ^{[1
]}

Caarls, Jurjen ^{[1
]}

Kostic, Dragan ^{[1
]}

Nijmeijer, Henk ^{[1
]}

机构：

[1] Eindhoven Univ Technol, Dept Mech Engn, POB 513, NL-5600 MB Eindhoven, Netherlands

来源：

ICINCO 2010: PROCEEDINGS OF THE 7TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 2 | 2010年

关键词：

Coordinated Control; Non-holonomic Systems; High-level and Low-level Control; Collision Avoidance; Performance Evaluation;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two collision avoidance strategies, namely a high-level and low-level collision avoidance approach, each using different feedback information and update rate. As performance measure we take into account the time to accomplish the transportation task and the tracking errors of the robots. Evaluation is done in several experiments with seven mobile robots.

引用

页码：63 / 71

页数：9

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