The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2014
Session ID : 2A1-W06
Conference information
2A1-W06 Formation Control Considering Uncertainty of Positions of Multi Mobile Robots(Cooperation Control of Multi Robots)
Koichi TAKASHIMAYuichi TAZAKITatsuya SUZUKI
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Abstract
This research proposes a method of reaching destinations for multi mobile robots by giving a formation under position uncertainty. These robots can measure 4 distances between a robot and a landmark and between robots by using 1 transmitter and 2 receiver which are located on themselves. Positions of robots, which can move and measure distances, are estimated by using extended kalman filter. And a sequence evaluation of robots formation use a variance-covariance matrix for considering position uncertainty and collision avoidance. A evaluation consider not these two points but distances between robots and their own destinations.
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© 2014 The Japan Society of Mechanical Engineers
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