書誌事項
- タイトル別名
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- Formation Transition based on Geometrical Features for Multiple Autonomous Mobile Robots
- キカ ジョウケン ニ ヨル ジリツ イドウ ロボットグン ノ ヘンタイ コウゾウ センイ
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抄録
In this paper, we propose a formation transition algorithm adapting to geometrical features of an environment for multiple autonomous mobile robots. In order to be compatible both keeping formation and avoiding collisions, we emproyee Delaunay diagram. According to geometrical features that apper in Delaunay diagram, the proposing algorithm determs appropriate neighbors in multiple robots. By adding an algorithm to avoid deadlock situations, the proposing algorithm can guarantee ability that all followers can move with an leader without get lost their ways. We have verified the algorith by carrying out simulations and an experiment.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 23 (3), 376-382, 2005
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725771776
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- NII論文ID
- 10015532258
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 7325515
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可