Title :
Formation control of SMC with multiple coordinate systems
Author :
Yamakita, Masaki ; Saito, Masahiro
Author_Institution :
Dept. of Mech. & Control Syst. Eng., Tokyo Tech., Japan
fDate :
28 Sept.-2 Oct. 2004
Abstract :
This paper discusses a formation control of a multiple mobile robot system (MMRS) called super Mechano colony (SMC). First, we introduce the SMC system composed of a mother ship and many agents as a prototype of MMRS. We propose a control method for formation control of child robots using multiple coordinate systems, i.e., physical coordinate system and shape coordinate system. The properties of the combined control method are shown by numerical simulations and an experiment.
Keywords :
mobile robots; child robots; formation control; multiple coordinate systems; multiple mobile robot system; shape coordinate system; super Mechano colony; Control systems; Marine vehicles; Mobile robots; Moon; Numerical simulation; Planets; Prototypes; Robot kinematics; Shape control; Sliding mode control;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389487
