소형 이동로봇을 이용한 자율 분산제어용 시뮬레이터의 개발

Development of Autonomous Decentralized Control System Simulator using Micro Mobile Robot

During a fast decade, an automatic control technology makes an aggressive improvement with the developments of computer and communication technology. In large scale and complicated systems, an autonomous decentralized control system is required in which the sub-systems must have some ability such that the self-judgement and self-performance functions. In this paper, we propose an algorithm to realized these functions using micro mobile robot which is applied to a control of a werehouse. The proposed algorithm is based on performance index, and the selecting rules of the task between the sub-systems are induced by the index. Also, it is effected by weighting function which is determined by environment and kind of works. To verify the effectiveness of this algorithm, we develop the simulator to implement the autonomous decentralized control and apply to the micro mobile robot on the PC machine.