Control of Tracking Network for Real UGVs with Disturbance

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  • KATA Hiroaki
    Graduate School of Engineering Science/Environment and Information Science, Yokohama National University
  • UENO Seiya
    Graduate School of Engineering Science/Environment and Information Science, Yokohama National University
  • DOBASHI Junya
    Advanced Defense Technology Center, Acquisition, Technology & Logistics Agency

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Other Title
  • 外乱を含む実機UGVを用いた移動体追従ネットワーク制御
  • ガイラン オ フクム ジツキ UGV オ モチイタ イドウタイ ツイジュウ ネットワーク セイギョ

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Abstract

<p>Communication network formation and position control law for multiple unmanned ground vehicles (UGVs) to monitor a moving target at base station is proposed. A monitoring image of the target that acquired by nearby UGV is sent to base station through the communication network. Each UGV forms a communication network and calculates own moving amount with virtual forces using only information in local area. Since an error occurs in movement of real UGV, modified position control law is introduced. Numerical simulation and experiments show the effectiveness of this control law.</p>

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