The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS
Transactions ID Number: 32-535
Full Name: Yin-Tien Wang
Position: Professor
Age: ON
Sex: Male
Address: 151 Ying-Chuan Rd., Tamsui, Taipei Hsien, 25137
Country: TAIWAN
Tel: +886-2-26215656ext.3280
Tel prefix:
Fax: +886-2-26209745
E-mail address: ytwang@mail.tku.edu.tw
Other E-mails: ytwang251@gmail.com
Title of the Paper: A Method for Multiple-Obstacle Avoidance in Role Reassignment of Robot Formation Control
Authors as they appear in the Paper: Yu-Cheng Chen and Yin-Tien Wang
Email addresses of all the authors: 131544@mail.tku.edu.tw, ytwang@mail.tku.edu.tw
Number of paper pages: 13
Abstract: In the paper, an algorithm for the obstacle avoidance and a procedure for the role reassignment of multiple-robot formation control based on this algorithm are proposed. This algorithm contains a bitwise logical operator that is used to distinguish between single and multiple obstacles in the nearby environment. Meanwhile, a motion controller is also designed in this research based on the dynamic equation for robots. The developed algorithms are applied to the formation control of a group omni-directional driven robots. Simulation and experiment are performed with real platform to verify the proposed algorithm and the results show that the performance of the proposed algorithm for obstacle avoidance and procedure for role reassignment are efficient for robot formation control.
Keywords: Obstacle avoidance, Formation control, Role reassignment, Robot control
EXTENSION of the file: .pdf
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