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题名:
Formation control of multiple autonomous robots: Theory and experimentation
作者: Kang, W; Xi N(席宁); Tan JD(谈金东); Wang YC(王越超)
作者部门: 机器人学研究室
通讯作者: Kang, W
关键词: formation control ; perceptive reference frame ; robot formation ; event based control ; mobile robots
刊名: INTELLIGENT AUTOMATION AND SOFT COMPUTING
ISSN号: 1079-8587
出版日期: 2004
卷号: 10, 期号:4, 页码:277-293
收录类别: SCI
WOS记录号: WOS:000224104200003
产权排序: 3
摘要: This paper presents all approach to the control of a formation of autonomous robots using a perceptive reference frame. The perceptive frame uses a parameter that is directly related the fusion of the sensory measurement of the formation as the motion reference. The paper presents the concept of the perceptive reference frame and the design procedure based oil the perceptive reference. The stability of the system based oil the perceptive reference is investigated. Examples are given to show the flexibility and advantage of the proposed approach. Some useful strategies of coordination are implemented in a perceptive frame by reference projections. The feature of the coordination is illustrated by experiments using three mobile robots. Lab experiments oil mobile robot are carried out in an environment with unexpected obstacles and unexpected stop for all arbitrary period of time.
语种: 英语
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内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/21509
Appears in Collections:机器人学研究室_期刊论文

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作者单位: 1.USN, Postgrad Sch, Dept Math, Monterey, CA 93943 USA
2.Michigan Technol Univ, Dept Elect & Comp Engn, Houghton, MI 49931 USA
3.Michigan State Univ, Dept Elect & Comp Engn, E Lansing, MI 48824 USA
4.Chinese Acad Sci, Shenyang Inst Automat, Shenyang, Peoples R China

Recommended Citation:
Kang, W,Xi N,Tan JD,et al. Formation control of multiple autonomous robots: Theory and experimentation[J]. INTELLIGENT AUTOMATION AND SOFT COMPUTING,2004,10(4):277-293.
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