Virtual Hill 및 Sink 개념 기반의 군집 로봇의 직선 대형 주행 기법

강요환; 이민철; 김지언; 윤성민; 노치범

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자료유형: 학술저널

저자정보: 강요환 (부산대학교) 이민철 (부산대학교) 김지언 (부산대학교) 윤성민 (부산대학교) 노치범 (부산대학교)

저널정보: 한국로봇학회(논문지) 로봇학회 논문지 로봇공학회 논문지 제6권 제3호

발행연도: 2011.9

수록면: 237 - 246 (10page)

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Robots have been used in many fields due to its performance improvement and variety of its functionality, to the extent which robots can replace human tasks. Individual feature and better performance of robots are expected and required to be created. As their performances and functions have increased, systems have gotten more complicated. Multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a cluster the automatic driving method so that they stably arrive at the target. The energy method mentioned above is applying attractive force and repulsive force to a special target, other robots or obstacles. This creates the potential energy, and the robot is controlled to drive in the direction of decreasing energy, which basically satisfies lyapunov function. Through this method, a cluster robot is able to create a formation and stably arrives at its target.

#cluster robot #navigation #line formation #potential field #virtual hill

참고문헌 (13)

참고문헌 신청

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