速度ベクトルと先導ロボット情報を利用した移動ロボットの隊列走行制御

抄録

The social infrastructure structures such as tunnels or bridges take an important role in our daily life. The collapse and the malfunction of these social infrastructure have serious a influence on society and the human life. The damage situation grasping and the restoration is desired by a quick investigation after the disaster occurs. On the other hand, a disaster prevention/decrease to the infrastructure structures will be achieved by the maintenance of infrastructure facilities with the periodic inspection. From such a background, the robot technology is expected to be used for the social infrastructure disaster and maintenance such as a periodic inspection in recent years. The search and investigation from the remote safety zone is effective to avoid the risk such as the secondary disaster of the rescuer and the inspector when a robot technology is applied to inspection the infrastructure structure such as tunnel and bridge, and investigation for disaster in the tunnel. One of the problems is how to quickly construct the high quality local communication network. In this study, multi-robot system will be proposed for purpose of the construction for a communication infrastructure with long-distance wireless/wired LAN. Supposing cable laying with multi-robot, this paper addresses the feasibility study about the platoon control of mobile robot by using velocity vector and leading robot information. The virtual impedance will be derived from the dynamics for the relative distance and angle between a leading robot and the following robot and from the control law with velocity vector and leading robot information. Experimental and theoretical results indicated the effectiveness for the cable tension and for the delay of the feedback control system.