The Formation-Keeping of Multiple Mobile Robots using Chained-Poles

Title
The Formation-Keeping of Multiple Mobile Robots using Chained-Poles
Authors
곽재혁강현덕김창환
Keywords
multiple robot; formation keeping; formation change
Issue Date
2009-08
Publisher
ICCAS-SICE 2009
Citation
, 5695-5698
Abstract
In this paper, we propose an formation-keeping and changing methods for outdoor multiple mobile robots in chained form. The proposed method is designed to maintain the follower to its desired distance and orientation with respect to the pole using the concept of virtual force such as potential OEeld. We use the centralized system and the client robots use the behavior-based control to perform kinematic control to keep formation. The relationship of each poles that is expressed by set of distance and angle is the description of the formation type and the type converting is performd using this set. In addition, we also examine the stability and capability in the simulation and experiments with real robots.
URI
http://pubs.kist.re.kr/handle/201004/35810
Appears in Collections:
KIST Publication > Conference Paper
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