Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

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)
  • 박성규 (홍익대학교 전기제어공학과) ;
  • 이기성 (홍익대학교 전기제어공학과)
  • Published : 2001.11.24
Download PDF
⟨ Previous Next ⟩

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