DOI QR코드

DOI QR Code

리더-추종자 대형제어의 장애물 회피

Obstacle Avoidance of Leader-Follower Formation

  • 오영석 (인하대학교 로봇공학) ;
  • 박종훈 (인하대학교 로봇공학) ;
  • 김진환 (인하공업전문대학 전기정보과) ;
  • 허욱열 (인하대학교 공과대학 전기공학과)
  • 투고 : 2011.06.02
  • 심사 : 2011.08.16
  • 발행 : 2011.09.01

초록

This paper presents obstacle avoidance of Leader-Follower formation. The follower robot maintain the formation with leader robot and avoid the detected obstacle. When obstacle is detected, follower robot avoid it considering leader robot and follower robot position and follower robot and obstacle position. In addition, follower robot avoid obstacle irrespective of obstacle size. Controller of follower robot is designed to satisfy Lyapunov stability by backstepping method. Simulation results shows that the designed controller has a stable performance.

키워드

참고문헌

  1. 오영석, 이충호, 박종훈, 김진환, 허욱열, "이동물체 추적을 위한 이동로봇의 대형제어," 대한전기학회논문지 제60권 제04호, pp. 856-861, 2011년 04월
  2. O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots," Int. J. Robotics Res., vol. 5, no. 1, pp 90-98, 1986. https://doi.org/10.1177/027836498600500106
  3. J. Borenstein and Y. Koren, "Real-time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environment," In Proc. IEEE Int. Conf. Robotics and Automation, Vol CH-2876, pp 572-577, 1990.
  4. J. Borenstein and Y. Koren, "The Vector Field Histogram Fast Obstacle Avoidance for Mobile Robots," IEEE Transaction on Robotics and Automation, Vol. 7, No. 3, pp 278-288, 1991 https://doi.org/10.1109/70.88137
  5. V. Lumelsky and T. Skewis, "Incorporating range sensing in the robot navigation function," IEEE Transactions on Systems Man and Cybernetics, vol. 20, pp. 1058-1068, 1990. https://doi.org/10.1109/21.59969
  6. Thongchai, S. and Kawamura, K., "Application of fuzzy control to a sonar-based obstacle avoidance mobile robot," IEEE Int. Conf. Control Applications, pp. 425-430, 2000.
  7. H. Takahashi, H. Nishi and K. Ohnishi, "Autonomous Decentralized Control for Formation of Multiple Mobile Robots Considering Ability of Robot," IEEE Trans. on Industrial Electronics, vol. 51, No. 6, pp 1272-1279, Dec. 2004. https://doi.org/10.1109/TIE.2004.837848
  8. LENG-FENG LEE, "DECENTRALIZED MOTION PLANNING WITHIN AN ARTIFICIAL POTENTIAL FRAMEWORK (APF) FOR COOPERATIVE PAYLOAD TRANSPORT BY MULTI-ROBOT COLLECTIVES," MASTER OF SCIENCE, 2004
  9. Y. Kanayama, Y. Kimura, F. Miyazaki and T. Noguchi, F.N. Najm, "A Stable Tracking Control Method for an Autonomous Mobiel Robot," IEEE Int. Conf. on Robotics and Automation, pp. 384-389, 1990.
  10. J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, NJ: Prentice Hall, 1991
  11. M. Sadou, V. Polotski, and P. Cohen, "Occlusions in obstacle detection for safe navigation," in Proc. IEEE Intell. Veh. Symp., pp. 716-721, 2004