Navigation Strategy of Multiple Mobile Robot Systems based on the Null-Space Projection Method > International Journal

Navigation Strategy of Multiple Mobile Robot Systems based on the Null-Space Projection Method

Journal: International Journal of Control, Automation and Systems

Vol: Vol. 9, No.2

Page: pp. 384-390

Author: H. Lee, E.-J. Jung, B.-J. Yi, and Y. Choi

Year: 2011

Date: 2011.04.30

File: Lee2011_Article_NavigationStrategyOfMultipleMo.pdf (1.4M) 1회 다운로드 DATE : 2020-10-18 16:47:03

Link: https://link.springer.com/article/10.1007/s12555-011-0221-4 207회 연결

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.

Publication

Hanyang University HumanRobotics Lab

Navigation Strategy of Multiple Mobile Robot Systems based on the Null-Space Projection Method