서지주요정보
다개체 이동 로봇을 위한 협동 제어 방법론 = Cooperative control method for multiple mobile robots
서명 / 저자 다개체 이동 로봇을 위한 협동 제어 방법론 = Cooperative control method for multiple mobile robots / 이경노.
저자명 이경노 ; Lee, Kyung-No
발행사항 [대전 : 한국과학기술원, 1998].
Online Access 원문보기 원문인쇄

소장정보

등록번호

8008606

소장위치/청구기호

학술문화관(문화관) 보존서고

MME 98054

SMS전송

도서상태

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초록정보

As yet, few general control methods to generate cooperation among multiple robots have been reported. So this paper presents a cooperative control method for multiple mobile robots with local sensors. The objective of the presented method is to present how to organize the cooperative system for multiple mobile robots, generally how to design control logics for a single robot and how to recover errors. The method consists of two sub-methods. The one is a method to design global control plans for many robots, i.e., for task allocation plans, task change plans and so on in order to effectively execute a goal-task. The other is a method to control a single robot in the cooperative system and involves ways to design control logics and to recover errors. To effectively design control logics, ways to integrate sensor information and to generate a control command are presented. The former is to merge similar sensor states to one by using 'AND/OR' logics and the latter is to eliminate logical conflicts by means of transition firing sequence in Petri nets. And in order to recover errors that generally may occur, ways to design reference model and to change control commands based on the control model are introduced. To demonstrate the effectiveness of these sub-methods, the object-searching task is introduced. This task is to search an object like a box by two robots and consists of two sub-tasks, i.e., a wall tracking task and a robot tracking task. Simulation results for the object-searching task, the wall tracking task and the error recovery methods are presented to show the effectiveness of the method.

서지기타정보

서지기타정보
청구기호 {MME 98054
형태사항 vi, 62 p. : 삽도 ; 26 cm
언어 한국어
일반주기 저자명의 영문표기 : Kyung-No Lee
지도교수의 한글표기 : 이두용
지도교수의 영문표기 : Doo-Yong Lee
학위논문 학위논문(석사) - 한국과학기술원 : 기계공학과,
서지주기 참고문헌 : p. 60-62
주제 협동 제어
다개체 로봇
이동 로봇
페트리넷
시뮬레이션
Cooperative control
Multiple robots
Mobile robot
Petri nets
Simulation
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