日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
論文
無線通信範囲制約を考慮する群ロボットシステムのフォーメーション制御
村山 暢長野 明紀羅 志偉
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ジャーナル フリー

30 巻 (2012) 9 号 p. 881-888

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In this research, we analyze a formation control of a multi-robot system while considering the limitation of communication range for each robots. With limitation in communication range, it is important to control the communication network topology of a multi-robot system in order to keep the network's connectivity. We formulate the multi-robot system as a hybrid dynamical system, with the communication constraints by inequality. Then we study the algorithm to solve a mixed integer programming problem that is equivalent to the optimal formation control probrem of the system. Computer simulation of the formation control of three robots is perform, in which a optimal control and a receding horizon control is done to assure the validity of our approach.

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© 2012 日本ロボット学会
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