設計工学・システム部門講演会講演論文集
Online ISSN : 2424-3078
会議情報
1111 人工物工学研究の展開(第 12 報) : マルチエージェント間における協調と矛盾そして全体の浮遊とその安定化
山口 博明新井 民夫
著者情報
会議録・要旨集 フリー

p. 27-28

詳細
抄録
This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized. Each robotic vehicle especially has a two-dimensional control input referred to as a "formation vector" and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.
著者関連情報
© 2001 一般社団法人 日本機械学会
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