전기학회논문지 (The Transactions of The Korean Institute of Electrical Engineers)

  • 제60권9호
  • /
  • Pages.1761-1766
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  • 2011
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  • 1975-8359(pISSN)
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  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
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리더-추종자 대형제어의 장애물 회피

Obstacle Avoidance of Leader-Follower Formation

  • 오영석 (인하대학교 로봇공학) ;
  • 박종훈 (인하대학교 로봇공학) ;
  • 김진환 (인하공업전문대학 전기정보과) ;
  • 허욱열 (인하대학교 공과대학 전기공학과)
  • 투고 : 2011.06.02
  • 심사 : 2011.08.16
  • 발행 : 2011.09.01
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초록

This paper presents obstacle avoidance of Leader-Follower formation. The follower robot maintain the formation with leader robot and avoid the detected obstacle. When obstacle is detected, follower robot avoid it considering leader robot and follower robot position and follower robot and obstacle position. In addition, follower robot avoid obstacle irrespective of obstacle size. Controller of follower robot is designed to satisfy Lyapunov stability by backstepping method. Simulation results shows that the designed controller has a stable performance.

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참고문헌

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