로봇통신범위 변화에 따른 군집로봇 통신연결 알고리즘 개발 = Collective Formation Control for Multi-Robots with Varying Communication Range

다국어 초록 (Multilingual Abstract)

It is important to preserve the communication connection among the multi-robots operating in the unstructured environments such as collapsed building. However, in the previous researches the changes in the robot communication range due to the communication obstacles such as walls and steel skeletons has not been taken into account. And as a result, the stability of the robot communication network may be weakened.
Therefore, in this paper, we suggest an algorithm to smooth the communication connection between the robots in the multi-robot systems which navigate in the environments with the communication obstacles. For this purpose, we analyzed the changes of communication range and extracted major features of collective communication connectivity including safety communication range, maximum communication range, and minimum communication range and suggested a formation control method which all the communication connectivities among multi-robot are always guaranteed by. And the effectiveness of our suggested method is verified with experimental results

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 네트워크 중심형 군집 로봇
• 3. 군집로봇 통신범위 변화 제어
• 4. 실험 및 결과
• 5. 결론
• 참고문헌