Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2001.11c
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- Pages.95-98
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- 2001
A Study on the Cooperative Control of Multiple Mobile Robots Using a Hierarchical Structure
계층적 구조에 의한 다중이동로봇의 협동제어에 관한 연구
- Park, Sung-Kyu (Dept. of Electrical and Control Engineering Hongik University) ;
- Lee, Kee-Seong (Dept. of Electrical and Control Engineering Hongik University)
- Published : 2001.11.24
Abstract
A hierarchical structure for the cooperative control of multiple mobile robots using coordinates of objects obtained from vision system is proposed. The order-level perceives environments represented by workspace sets. The algorithm selects an object to be moved using an object discrimination part and determines the robot actions. The action-level generates a trajectory of each wheel velocity of robot. The simulation results show the effectiveness of the proposed algorithm.
Keywords