ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-W06
会議情報
2A1-W06 マルチロボットの位置の不確かさを考慮したフォーメーション制御(複数ロボットの協調制御)
高島 航一田崎 勇一鈴木 達也
著者情報
会議録・要旨集 フリー

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抄録
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 一般社団法人 日本機械学会
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