2016年
Multi-robot Formation Control over Distance Sensor Network
IFAC PAPERSONLINE
- 巻
- 49
- 号
- 22
- 開始ページ
- 198
- 終了ページ
- 203
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1016/j.ifacol.2016.10.396
- 出版者・発行元
- ELSEVIER SCIENCE BV
This paper proposes a formation control method by using one-dimensional (1D) distance sensors, e.g. LED-based PSD sensors. These sensors enhance the mobility of the multi-robots because they can be equipped with small-payload robots. Note that only by the information on 1D distances from other robots, their center positions cannot be correctly identified. Moreover, the robots have to control their attitudes to detect other robots, which is a special requirement for using the 1D distance sensors. In this paper, we design a formation controller which requires only the information on the 1D distances. The controller consists of two parts: the position control to achieve formation and the attitude control to direct the sensors to other robots. Moreover, we propose a sensor detection network topology with which the formation is successfully achieved. Finally, the effectiveness of the proposed method is illustrated by a simulation result. (C) 2016, (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
- リンク情報
-
- DOI
- https://doi.org/10.1016/j.ifacol.2016.10.396
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000401246800034&DestApp=WOS_CPL
- URL
- http://www.scopus.com/inward/record.url?eid=2-s2.0-84994097099&partnerID=MN8TOARS
- URL
- http://orcid.org/0000-0002-7754-7915
- ID情報
-
- DOI : 10.1016/j.ifacol.2016.10.396
- ISSN : 2405-8963
- ORCIDのPut Code : 36296037
- SCOPUS ID : 84994097099
- Web of Science ID : WOS:000401246800034