Formation Control Based on Virtual Space Configuration for Multi-Robot Collective Navigation

被引：0
|
作者：
Wee, Sung-Gil [2 ]
Kim, Yoon-Gu [2 ]
Lee, Suk-Gyu [1 ]
An, Jinung [2 ]
机构：
[1] Yeungnam Univ, Dept Elect Engn, Gyeongbuk 712749, South Korea
[2] DGIST, Robot Syst Res Div, Taegu 711873, South Korea
来源：
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年
关键词：
virtual space; virtual robot; formation configuration;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a formation-control method based on virtual-space configuration for multi-robot, collective navigation. To maintain the configuration of a multiple-robot formation, each robot creates a virtual space composed of virtual robots around it, so that it can avoid collisions with, and keep a constant distance from, the other robots. In addition, this paper suggests a method by which follower robots might access the outer contour of the virtual space of the leader robot to determine their headings and to maintain a safe configuration of leader and follower robots.
引用
收藏
页码：556 / +
页数：2
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