Abstract
TWe develop a control approach to formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors that cannot accurately measure absolute distances and directions of objects. The main formation task is to generate formation in which the lead robot becomes the reference and the others determine their position in relation to the lead robot. The logic is developed considering generic situations and increasing the number of robots participating in formation.
Petri nets are used for modeling and design of the control logic, which can visualize the control models, make it easy to check the states of each robot, and recover from errors.
To evaluate the developed logic, physically homogenous mobile robots are designed and built. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The developed control approach is demonstrated with experiments to be successful and efficient for the formation problems of mobile robots.
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(a) A mobile robot
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(b) Experiments of the formation of three robots
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Fig.1. Experimental setup
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Publication
1. Gunhee Kim, Doo Yong Lee, and Kyungno Lee, "Formation of Mobile robots with Inaccurate Sensor Information", Transactions on Control, Automation and Systems Engineering, vol.3 no.4 pp.203-209, 2001.
2. Gunhee Kim, Doo Yong Lee, and Kyungno Lee, "Formation Approach for Mobile robots with Inaccurate Sensor Information", Proceedings of the 2001 International Conference on Control, Automation, and Systems(ICCAS 2001), pp.805-808, Jeju, Korea,