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TCST.2016.2581148.pdf | 5.24 MB | Adobe PDF | 見る/開く |
タイトル: | Flocking for Multirobots Without Distinguishing Robots and Obstacles |
著者: | Sakai, Daito Fukushima, Hiroaki Matsuno, Fumitoshi |
著者名の別形: | 坂井, 大斗 福島, 宏明 松野, 文俊 |
キーワード: | Cohesion flocking multirobot system obstacle avoidance velocity consensus |
発行日: | 1-May-2017 |
出版者: | Institute of Electrical and Electronics Engineers Inc. |
誌名: | IEEE Transactions on Control Systems Technology |
巻: | 25 |
号: | 3 |
開始ページ: | 1019 |
終了ページ: | 1027 |
抄録: | Most existing studies of multiple mobile robots assume that robots can distinguish between other robots and obstacles. However, if a flocking algorithm was available that did not require this ability, easier implementation could be expected. In this brief, we propose a flocking algorithm that does not distinguish between a robot and an obstacle. In other words, all detected objects are regarded as obstacles in the proposed algorithm. Thus, velocity information on neighboring robots is not required. We also show that the proposed algorithm maintains the desired properties of existing flocking algorithms, even though only limited information is used in the proposed algorithm. Furthermore, unlike many previous studies, the effectiveness of the algorithm is demonstrated not only by simulations, but also in real robot experiments. In the experiments, neighboring robots and obstacles are detected using only laser range finders, since the robots do not need to distinguish between another robot and an obstacle. |
著作権等: | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. |
URI: | http://hdl.handle.net/2433/224962 |
DOI(出版社版): | 10.1109/TCST.2016.2581148 |
出現コレクション: | 学術雑誌掲載論文等 |
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