分散型Passive Velocity Field Controlを用いたLeader-Followerタイプ協調移動ロボットによる適応目標速度場生成

抄録

This paper addresses an adaptive generation method of desired velocity field for leader-follower type cooperative mobile robotic systems with decentralized passive velocity field control (PVFC) handling a common object in coordination. The proposed control method for cooperative mobile robotic systems is constructed by extending PVFC. A common desired velocity is generated by the initial states of the robotic systems and the interactions. Moreover, the whole system becomes passive against human interaction and the whole motion can be controlled by a leader which can be a human being. In the design, the stability and boundedness of the signals in the resultant system with the proposed control algorithm is also guaranteed. Finally, the proposed control algorithm is examined by computer simulations for cooperative tasks with 3-wheeled mobile robotic systems. The simulation results illustrate the validity of the proposed control algorithm.