추종 로봇의 측정값들을 이용한 다중 이동 로봇의 선도-추종 접근법 기반 군집 제어

다국어 초록 (Multilingual Abstract)

This paper proposes the leader-follower based formation control method for multiple mobile robots. The controller is designed using the measurements of the follower robot such as the relative distance and angle between the leader and the follower. This means that the follower robot does not require the information of the leader robot while keeping the desired formation. Therefore, the proposed control method can reduce the communication loss and the cost for hardware. From Lyapunov stability theory, it is shown that all error signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results demonstrate the effectiveness of the proposed control system.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 군집 모델
• Ⅲ. 제어기 설계
• Ⅳ. 모의 실험
• Ⅴ. 결론
• 참고문헌

참고문헌 (Reference)

1 신진호, "불확실성을 가지는 전기 구동 논홀로노믹 이동 로봇의 궤적 추종을 위한 강인 적응 퍼지 백스테핑 제어" 제어·로봇·시스템학회 18 (18): 902-911, 2012

2 김종선, "군집 로봇의 침입자 포위를 위한 비동기 행동 제어 알고리즘" 제어·로봇·시스템학회 18 (18): 812-818, 2012

3 M. M. Polycarpou, "Stable adaptive neural control scheme for nonlinear systems" 41 (41): 447-451, 1996

4 M. Defoort, "Slidingmode formation control for cooperative autonomous mobile robots" 55 (55): 3944-3953, 2008

5 K. D. Do, "Nonlinear formation control of unicycletype mobile robots" 55 : 191-204, 2007

6 T. Dierks, "Neural network control of mobile robot formations using RISE feedback" 39 (39): 332-347, 2009

7 J. P. Desai, "Modeling and control of formations of nonholonomic mobile robots" 17 (17): 905-908, 2001

8 J. Shao, "Leader-following formation control of multiple mobile vehicles" 1 (1): 545-552, 2007

9 L. Consolini, "Leader-follower formation control of nonholonomic mobile robots with input constraints" 44 : 1343-1349, 2008

10 T. Balch, "Behavior-based formation control for multirobot team" 14 (14): 926-939, 1998