Validation of Collective Motion Control Algorithm by Using Ground Vehicle Swarm Robots.
(29/05/2013)
Unmanned system including ground or aerial vehicles have been developed for the purpose of surveillance in a disaster area. For such unmanned systems, downsizing is beneficial to lower the use of development or operation. However, downsizing causes an inevitable problem due to the limitation in system's function and the susceptibility to internal disturbances. To handle this problem, collective motion control (CMC) is proposed here which operates multiple small agents at the same time. The authors developed a CMC model of air vehicles based on biologically-inspired three primitive controls, i.e., 'approach,' 'parallel orientation,' and 'repulsion,' depending on the distance between air...
Tác giả: Inada, Y.; Tokita, H.; Futakami, M.; Horie, K.; Iida, M.; Endo, T.; Takanobu, H. |
Số trang: 26 |
Lĩnh vực: Điện - Điện tử |
Năm XB: 2010 |
Loại tài liệu: Khác
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Validation of Collective Motion Control Algorithm by Using Ground Vehicle Swarm Robots. | Số trang: 26
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Unmanned system including ground or aerial vehicles have been developed for the purpose of surveillance in a disaster area. For such unmanned systems, downsizing is beneficial to lower the use of development or operation. However, downsizing causes an inevitable problem due to the limitation in system's function and the susceptibility to internal disturbances. To handle this problem, collective motion control (CMC) is proposed here which operates multiple small agents at the same time. The authors developed a CMC model of air vehicles based on biologically-inspired three primitive controls, i.e., 'approach,' 'parallel orientation,' and 'repulsion,' depending on the distance between air vehicles, and succeeded to realize various CMC motions such as shape or loitering control. In this study, multiple ground vehicles (GVs) are developed to validate the simulation results. Each GV is equipped with interaction devices and is programmed to switch the above-mentioned three controls depending on the distance to other GVs. The approach or repulsion is realized by moving in the direction or in the counter-direction to detected GV, respectively. The parallel orientation is realized by moving in the averaged direction of detected GV's body directions which are measured by using electro magnetic direction sensor on such GV and are transmitted to other GVs for calculating the averaged direction by using communication device. Navigation control, shape control, and the control by using altitude sensor are realized, thus validating the feasibility of proposed biologically inspired CMC model.
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