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Navigation Strategy of Multiple Mobile Robot Systems based on the Null-Space Projection Method
- Authors
- Lee, Hoyul; Jung, Eui-Jung; Yi, Byung-Ju; Choi, Youngjin
- Issue Date
- Apr-2011
- Publisher
- 제어·로봇·시스템학회
- Keywords
- Navigation; null-space; obstacle avoidance; swam robot system
- Citation
- International Journal of Control, Automation, and Systems, v.9, no.2, pp 384 - 390
- Pages
- 7
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- International Journal of Control, Automation, and Systems
- Volume
- 9
- Number
- 2
- Start Page
- 384
- End Page
- 390
- ISSN
- 1598-6446
2005-4092
- Abstract
- This paper deals with a navigation algorithm for swarm robot systems in which multiple mobile robots work together. The motion of each mobile robot is modeled in such a way to have more inputs than the number of outputs. The null-space projection method of this model is employed to resolve the motion of the swarm robot system while avoiding obstacles. The feasibility of the proposed navigation algorithm is verified through a simulation study using several swarm robot models.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)