http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Group robot control in non-deterministic environments using the potential field method
D.A. Beloglazov,V.I. Finaev,A.E. Titov,I.O. Shapovalov,V.V. Soloviev 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
The main purpose of this paper is to describe the method of group robot control in non-deterministic environments. Here the group structure is proposed for creation with the use of space lattice concept minimizing the computational cost for robot to determine its spatial position in the ranks of the structure. The stages of the solution of two interrelated tasks of robot group motion organization using the method of potential fields are considered: task of trajectory planning of the group considered as a uniform structure in the global coordinate space and the task of planning of the individual trajectory of each mobile robot in the considered structure. As main results, we propose the concept of structure formation for the robot groups using the space lattice and the algorithm of group robot control. To confirm the efficiency of our method we presented some simulation results with the groups including up to five autonomous mobile robots.