DocumentCode
426092
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
Volume
1
fYear
2004
fDate
28 Sept.-2 Oct. 2004
Firstpage
1023
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8463-6
Type
conf
DOI
10.1109/IROS.2004.1389487
Filename
1389487
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