Hierarchiczny układ sterowania formacją robotów z wykorzystaniem algorytmu wirtualnej struktury

• Autorzy: Burghardt, A. , Giergiel, J.

Warianty tytułu

EN

Hierarchical control of robots formation using virtual structure algorithms

• Języki publikacji: PL

Abstrakty

PL

W pracy zaprezentowano hierarchiczny układ sterowania formacją robotów z wykorzystaniem algorytmu wirtualnej struktury. Dla zaproponowanego algorytmu sterowania przeprowadzono dowód stabilności w sensie Lapunowa. Otrzymane rozwiązanie zasymulowano oraz zweryfikowano w autorskim środowisku kontrolno-pomiarowym zarządzającym oraz monitorującym pracę do 256 robotów mobilnych.

EN

The current work tackles the issue of precision control of an established configuration of robots, a formation, which moves along a defined trajectory. In order to ensure maintaining a formation shape, a virtual structure algorithm has been used. The task was performed on the basis of a hierarchical control system, where a trajectory generator was established as the superior control system; within the middle system, a robot formation control was performed using the algorithm (which had been proved stable) proposed by the author. The task of the lowest control system level was to ensure that a robot follows the trajectory generated by the middle system. The follow-up control algorithm was used for this level. The proposed solution was simulated in the built-up emulator of the n-robots' working environment. The simulation results were verified under working conditions of a real formation, consisting of three AmigoBot robots.

Słowa kluczowe

PL

robot; robot mobilny; hierarchiczny układ sterowania; AmigoBot

EN

robot; mobile robot; hierarchical control system; AmigoBot

• Czasopismo: Modelowanie Inżynierskie
• Rocznik: 2011
• Tom: T. 11, nr 42
• Strony: 83-90
• Opis fizyczny: Bibliogr. 15 poz.

Twórcy

autor

Burghardt, A.

autor

Giergiel, J.

• Katedra Mechaniki Stosowanej i Robotyki, Politechnika Rzeszowska,

Bibliografia

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