이동 로봇의 군집 제어 리뷰

  • 박봉석 (조선대학교 전자공학과) ;
  • 김홍근 (서울대학교 전기정보공학부)
  • Published : 2013.06.25

Abstract

자연계에서 빈번히 목격되는 군집 현상과 그 효용성의 고찰에 기인하여, 최근 다중 이동 로봇의 협업에 대한 연구가 활발히 수행되고 있다. 그 중, 본 논문에서는 다중 이동 로봇의 군집 제어 방법론들을 설명하고, 그와 관련된 최신 결과들도 소개한다. 특히 군집 제어 문제를 해결하기 위한 대표적인 방식인 행동 기반 접근법, 가상 구조 접근법, 선도-추종 접근법, 그래프 이론 기반 접근법 위주로 소개한다.

Keywords

References

  1. P. B. S. Lissaman and C. A. Shollenberger, "Formation flight of birds," Science, vol. 168, no. 3934, pp. 1003-1005, May 1970. https://doi.org/10.1126/science.168.3934.1003
  2. S. H. Strogatz, Sync: How order emerges from chaos in the universe, nature, and daily life, Hyperion, 2003.
  3. J. Shao, G. Xiao, and Z. Cai, "Leader-following formation control of multiple mobile vehicles," IET Control Theory and Applications, vol. 1, no. 2, pp. 545-552, Mar. 2007. https://doi.org/10.1049/iet-cta:20050371
  4. Y. Q. Chen and Z. Wang, "Formation control: A review and a new consideration," IEEE International Conference on Intelligent Robots and Systems, pp. 3181-3186, Aug. 2005.
  5. T. Balch and R. C. Arkin, "Behavior-based formation control for multirobot team," IEEE Trans. Robotics and Automation, vol. 14, no. 6, pp. 926-939, Dec. 1998. https://doi.org/10.1109/70.736776
  6. J. Fredslund and M. J. Mataric, "A general algorithm for robot formations using local sensing and minimal communication," IEEE Trans. Robotics and Automation, vol. 18, no. 5, pp. 837-846, Oct. 2002. https://doi.org/10.1109/TRA.2002.803458
  7. S. Monteiro and E. Bicho, "A dynamical systems approach to behavior-based formation control," IEEE International Conference on Robotics and Automation, pp. 2606-2611, May 2002.
  8. K. H. Tan and M. A. Lewis, "Virtual structures for high-precision cooperative mobile robotic control," Proc. of the IEEE International Conference on Intelligent Robots and Systems, Nov. 1996, pp. 132-139, Nov. 1996.
  9. P. Ogren, M . Egerstedt, and X. Hu, "A control Lyapunov function approach to multiagent coordination," IEEE Trans. Robotics and Automation, vol. 18, no. 5, pp. 847-851, Oct. 2002. https://doi.org/10.1109/TRA.2002.804500
  10. K. D. Do and J. Pan, "Nonlinear formation control of unicycle-type mobile robots," Robotics and Autonomous System., vol. 55, no. 3, pp. 191-204, Mar. 2007. https://doi.org/10.1016/j.robot.2006.09.001
  11. K. D. Do, "Formation tracking control of unicycle-type mobile robots with limited sensing ranges," IEEE Trans. Control System Technology, vol. 16, no. 3, pp. 527-538, May 2008. https://doi.org/10.1109/TCST.2007.908214
  12. C. D. Godsil and G. Royle, Algebraic graph theory, Graduate Texts in Mathematics, Springer, vol. 207, 2001.
  13. 김홍근, 심형보, 백주훈, "일치 제어 알고리듬을 이용한 외발형 이동로봇들의 대형 안정화," 대한전기학회 하계학술대회논문집, pp. 1615-1616, Jul. 2010.
  14. H. Kim, H. Shim, J. Back, and J.-H. Seo, "Consensus of outputcoupled linear multi-agent systems under fast switching network: Averaging approach," Automatica, vol. 49, no. 1, pp. 267-272, Jan. 2013. https://doi.org/10.1016/j.automatica.2012.09.025
  15. 강성모, 박명철, 이병훈, 오광교, 안효성, "거리기반편대 제어"기초지식, 주요결과 및 이슈," 제어로봇시스템학회논문지, 제19권,제5호,pp. 398-409, May 2013.
  16. K.-K. Oh and H.-S. Ahn, "Formation control of mobile agents based on inter-agent distance dynamics," Automatica, vol. 47, no. 10, pp. 2306-2312, Oct. 2011. https://doi.org/10.1016/j.automatica.2011.08.019
  17. J. P. Desai, J. Ostrowski, and V. Kumar, "Modeling and control of formations of nonholonomic mobile robots," IEEE Trans. Robotics and Automation, vol. 17, no. 6, pp. 905-908, Dec. 2001. https://doi.org/10.1109/70.976023
  18. A. K. Das, R. Fierro, V. Kumar, J. P. Ostrowski, J. Spletzer, and C. J. Taylor, "A vision-based formation control framework," IEEE Trans. Robotics and Automation, vol. 18, no. 5, pp. 813-825, Oct. 2002. https://doi.org/10.1109/TRA.2002.803463
  19. K. Choi, S. J. Yoo, J. B. Park, and Y. H. Choi, "Adaptive formation control in absence of leader's velocity information," IET Control Theory and Applications, vol. 4, no. 4, pp. 521-528, Apr. 2010. https://doi.org/10.1049/iet-cta.2009.0074
  20. S. Mastellone, D. M. Stipanovic, C. R. Graunke, K. A. Intlekofer, and M. W. Spong, "Formation control and collision avoidance for multi-agent non-holonomic systems: theory and experiments," International Journal of Robotics Research, vol. 27, no. 1, pp. 107-126, Jan. 2008. https://doi.org/10.1177/0278364907084441
  21. D. Kostic, S. Adinandra, J. Caarls, and N. van de Wouw, "Saturated control of time-varying formations and trajectory tracking for unicycle multi-agent systems," Proceedings of the IEEE Conference on Decision and Control, Dec. 2010, pp. 4054-4059.
  22. D. Kostic, J. Caarls, and H. Nijmeijer, "Collision-free motion coordination of unicycle multi-agent systems," American Control Conference, Jun. 2010, pp. 3186-3191.
  23. J. Chen, D. Sun, J. Yang, and H. Chen, "Leader-follower formation control of multiple non-holonomic mobile robots incorporating a receding-horizon scheme," International Journal of Robotics Research, vol. 29, no. 6, pp. 727-747, May 2010. https://doi.org/10.1177/0278364909104290
  24. M. Defoort, T. Floquet, A. Kokosy, and W. Perruquetti, "Slidingmode formation control for cooperative autonomous mobile robots," IEEE Trans. Industrial Electronics, vol. 55, no. 11, pp. 3944-3953, Nov. 2008. https://doi.org/10.1109/TIE.2008.2002717
  25. T. Dierks and S. Jagannathan, "Neural network control of mobile robot formations using RISE feedback," IEEE Trans. System, Man, and Cybernetics, Part B: Cybernetics, vol. 39, no. 2, pp. 332-347, Apr. 2009. https://doi.org/10.1109/TSMCB.2008.2005122
  26. B. S. Park, J. B. Park, and Y. H. Choi, "Robust adaptive formation control and collision avoidance for electrically driven nonholonomic mobile robots," IET Control Theory and Applications, vol. 5, no. 3, pp. 514-522, Feb. 2011. https://doi.org/10.1049/iet-cta.2010.0353
  27. K. D. Do, "Output-feedback formation tracking control of unicycle-type mobile robots with limited sensing ranges," Robotics and Autonomous Systems, vol. 57, no. 1, pp. 34-47, Jan. 2009. https://doi.org/10.1016/j.robot.2008.03.006
  28. B. S. Park, J. B. Park, and Y. H. Choi, "Adaptive formation control of electrically driven nonholonomic mobile robots with limited information," IEEE Trans. System, Man, and Cybernetics, Part B: Cybernetics s, vol. 41, no. 4, pp. 1061-1075, Aug. 2011. https://doi.org/10.1109/TSMCB.2011.2105475
  29. M. Farrokhsiar and H. Najjaran, "An unscented model predictive control approach to the formation control of nonholonomic mobile robots," Proceedings of the IEEE Conference on Robotics and Automation, Minnesota, USA, pp. 1576-1582, May 2012.