Journal of the Korean Institute of Intelligent Systems (한국지능시스템학회논문지)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Rank-based Formation for Multiple Robots in a Local Coordinate System

지역 좌표에서 랭크기반의 다개체 로봇 포메이션 제어

  • Received : 2014.09.15
  • Accepted : 2015.02.17
  • Published : 2015.02.25
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Abstract

This paper presents a rank-based formation for multiple agents based on potential functions, where the proposed method uses the relative position of two neighboring agents. The conventional formation scheme of multiple systems requires communication between agents and a central computer to get the positions of all multiple agents. In the study, differently from previous studies, the formation scheme uses the relative position of two neighboring agents in a local coordinate system. In addition, it introduces a singular agent association that considers only the relative position between an agent and its neighboring agents, instead of multiple associations among all information about all agents. Furthermore, the proposed framework explores the benefits of different formation types. Extensive simulation results show that the proposed approach verifies the viability and effectiveness of the proposed formation.

본 논문은 다개체 로봇을 위한 랭크 기반의 포메이션을 다룬다. 여기서 제안되는 방법은 이웃한 두 대 로봇의 지역 위치를 이용한다. 전통적인 다개체 로봇의 포메이션을 위한 연구는 모든 로봇의 위치를 파악하기 위해 로봇과 중앙 컴퓨터사이의 통신을 필요로 한다. 그리고 전역좌표에서 모든 로봇의 위치를 참조하여 포메이션 형성 및 로봇 경로가 만들어 진다. 기존의 연구들과는 다르게 제안된 포메이션 형성 방법은 지역좌표에서 이웃한 두 대의 로봇 위치를 사용 한다. 따라서 제안된 방법은 여러 모양의 포메이션을 형성할 때 모든 로봇의 협력 관계는 필요하지 않고 주변의 이웃 로봇 위치를 개별적으로 이용한다. 시뮬레이션 결과는 제안된 방법이 효과적으로 포메이션을 형성할 수 있음을 보여준다.

Keywords

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