Publication

Hanyang University HumanRobotics Lab

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) 0회 다운로드 DATE : 2020-10-18 16:47:03
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.