Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this paper, we describe an adaptive cruise control method of mobile robots using synchronization pattern of coupled van der Pol (VDP) equations. VDP equation which is a nonlinear oscillator is known to have a limit cycle. When multiple VDP equations are coupled mutually, mutual entrainment occurs, and periodic solutions of coupled VDP equations synchronize in various patterns. We propose a new method that distance between the robots are controlled by varying synchronization pattern in response to states of robots. Effectiveness of the proposed control method is verified by actual machines.
