Title :
A simplified control for robot convoy
Author :
Pham Duy Hung ; Tran Quang Vinh ; Ngo Trung Dung
Author_Institution :
Fac. of Electron. & Telecommun., Univ. of Eng. & Technol. (UET-VNU), Hanoi, Vietnam
Abstract :
This paper presents a simplified control of robot convoy. This control is a multi-level “bang-bang” derived by integration of Sensory Input Map (SIM) and Control Output Map (COM). We demonstrate that the robots are able to follow the leader while keeping a safe constant distance between them. The developed control is validated in simulation and tested with up-to five mini-robots.
Keywords :
bang-bang control; mobile robots; multi-robot systems; position control; COM; SIM; control output map; multilevel bang-bang; robot convoy; sensory input map; Control systems; Mathematical model; Mobile robots; Robot kinematics; Robot sensing systems;
Conference_Titel :
Control, Automation and Information Sciences (ICCAIS), 2012 International Conference on
Conference_Location :
Ho Chi Minh City
Print_ISBN :
978-1-4673-0812-0
DOI :
10.1109/ICCAIS.2012.6466604
