Transactions of the Korean Society of Automotive Engineers (한국자동차공학회논문집)

The Korean Society of Automotive Engineers (한국자동차공학회)
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Decentralized Control of Cooperative Mobile Robot Systems Using Passive Velocity Field Control Method

수동 속도장 제어법을 이용한 협조 이동로봇 시스템의 분산제어

  • 서진호 (동아대학교 전기공학과) ;
  • 이권순 (동아대학교 전기전자컴퓨터공학부)
  • Published : 2004.07.01
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Abstract

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.

Keywords

References

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