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스프링 댐퍼 임피던스 특성을 이용한 네트워크 기반의 군집 로봇의 경로 제어 기법Path Control Method of Networked Swarm Robot Systems using Spring Damper Impedance Features
- Other Titles
- Path Control Method of Networked Swarm Robot Systems using Spring Damper Impedance Features
- Issue Date
- 2010
- Publisher
- 제어·로봇·시스템학회
- Keywords
- networked swarm robot; spring damper impedance control; path control method
- Citation
- 제어.로봇.시스템학회 논문지, v.16, no.1, pp.61 - 68
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 16
- Number
- 1
- Start Page
- 61
- End Page
- 68
- ISSN
- 1976-5622
- Abstract
- This paper proposes networked swarm robotic systems with group based control scheme using spring damper impendence feature. The proposed algorithm is applied to keep system arrangement in unexpected situations based on the spring-damper impedance and fuzzy logic. Using the proposed scheme, each robot overcome collision problems efficiently. The structure of UBSR (UMPC Based Swarm Robot) system consists of user level, cognitive level, and executive level. This structure is designed to easily meet the different configuration requirements for other levels. Simulation results show an availability of the proposed method.
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Collections - School of Electronic Engineering > 1. Journal Articles
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Related Researcher
- KIM, DONG SEONG
- College of Engineering (School of Electronic Engineering)