Hierarchical robot formation control system

• Autorzy: Burghardt A.
• Języki publikacji: EN

Abstrakty

EN

The paper proposes a model of a wheeled mobile robot as a part of a robot formation. Using a hierarchical control system a control algorithm from point-to-point was given, for which stability was proven in the sense of Lapunov. The proposed algorithm can be implemented in the robot formation control, in both the virtual structure and follow-the-leader algorithms. The resulting solution was simulated and verified in control and measuring environment, which was able to manage and monitor the work of up to 256 mobile robots.

Słowa kluczowe

EN

control of a robot formation; mobile wheeled robot; AmigoBot robot

PL

robot; robot mobilny; algorytm sterowania

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2012
• Tom: Vol. 17, no. 3
• Strony: 733--741
• Opis fizyczny: Bibliogr. 17 poz., rys., wykr.

Twórcy

autor

Burghardt A.

• Dept of Applied Mechanics and Robotics Faculty of Mechanical Engineering and Aeronautics Rzeszow University of Technology W. Pola 2, 35-959, Rzeszów, POLAND,

Bibliografia

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