Leader-following Formation Navigation with Maintenance of Formation-distance for Safe Movement of Robot Group
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- SUZUKI Manabu
- Graduate School of Informatics and Engineering, The University of Electro-Communications
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- SAKURAMA Kazunori
- Graduate School of Engineering, Tottori University
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- NAKANO Kazushi
- Graduate School of Informatics and Engineering, The University of Electro-Communications
Bibliographic Information
- Other Title
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- ロボット群移動のための隊列維持を考慮したリーダ追従型隊列誘導
- ロボットグン イドウ ノ タメ ノ タイレツ イジ オ コウリョ シタ リーダ ツイジュウガタ タイレツ ユウドウ
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Abstract
This paper deals with a leader-following formation navigation (LFFN), which is one of the most important issues in formation control. In this formation, one leader is controlled by a human operator, while multiple followers pass along the leader's trajectory in the same motion to the leader. The followers move along the leader's path behind the leader after some intervals. In this navigation method, the distances between the robots are not considered, thus some of the followers are possibly too late to maintain the formation. This paper proposes a new LFFN method with the maintenance of the formation-distances. The proposed method minimizes the sum of the evaluation functions concerning the velocity and distance errors. The effectiveness of the presented method is demonstrated by an experiment with three mobile robots.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 49 (2), 302-309, 2013
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390282679481112576
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- NII Article ID
- 10031154999
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 024321064
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- Text Lang
- en
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed