Obstacle avoidance of a mobile robot group using a nonlinear oscillator network

被引：4

作者：

Kurabayashi, Daisuke ^{[1
]}

Okita, Kunio ^{[2
]}

Funato, Tetsuro ^{[1
]}

Sakaematsu, Ryota ^{[1
]}

机构：

[1] Tokyo Inst Technol, Sch Mech & Control Engn, Meguro Ku, Tokyo 1528552, Japan

[2] Ricoh co ltd, Tokyo, Japan

来源：

2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年

关键词：

D O I：

10.1109/IROS.2006.282314

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose and implement a formation control algorithm for a mobile robot group. Although obstacle avoidance is a highly essential function, it is not compatible with maintaining a formation. In previous studies, robots often switched their motion algorithms. However, there no concrete criteria exists for such decisions. In this paper, we employ the synchronization of nonlinear oscillators that communicate with each other. By using sensor signals, we vary the phase gaps among the oscillators. According to these phase gaps, we change gains to form a group in order to avoid obstacles. We have implemented the proposed system using actual robotic systems and have demonstrated its feasiblity.

引用

页码：186 / +

页数：3

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