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Navigation strategy of multiple mobile robot systems based on the null-space projection method

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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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Correspondence to Youngjin Choi.

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Recommended by Editorial Board member Sooyeong Yi under the direction of Editor Jae-Bok Song. This work was supported in part by the Mid-career Researcher Program through NRF grant funded by the MEST (No. 2008-0061778); in part by the Ministry of Knowledge Economy (MKE) and Korea Institute for Advancement in Technology (KIAT) through the Workforce Development Program in Strategic Technology; in part by the MKE under the National Robotics Research Center for Autonomous Navigation Technology support program supervised by the National IT Industry Promotion Agency (NIPA); in part by GRRC program of Gyeonggi Province (GRRC HANYANG 2010-A02); in part by the Human Resources Development of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant funded by the Korea government Ministry of Knowledge and Economy (No. 2007-P-EP-HME-07-0000); and in part by the Research fund of Hanyang University (HYU-2010-T), Republic of Korea. The material in this paper was partially presented at the International Conference on Ubiquitous Robots and Ambient Intelligence, Pohang, Korea, Oct, 2007.

Hoyul Lee received his B.S. degree in Control and Instrumentation Engineering from Pukyong University, Korea, in 2004, and his M.S. degree in Mechatronics Engineering from Hanyang University, Korea, in 2008. He is working toward a Ph.D. degree at Hanyang University. His research interests include bio-robotics and robotic mechanism.

Eui-Jung Jung received his B.S. and M.S. degrees in Electrical Engineering from Hanyang University, Korea, in 2006 and 2008, respectively. He is working toward a Ph.D. degree at Hanyang University. His research interests include mobile robot and kinematics.

Byung-Ju Yi received his B.S. degree from the Department of Mechanical Engineering, Hanyang University, Seoul, Korea in 1984, and his M.S. and Ph.D. degrees from the Department of Mechanical Engineering, University of Texas at Austin, in 1986 and 1991, respectively. From January 1991 to August 1992, he was a Post-Doctoral Fellow with the Robotics Group, University of Texas at Austin. From September 1992 to February 1995, he was an assistant professor in the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education (KITE), Chonan, Chungnam, Korea. In March 1995, he joined Hanyang University, Ansan, Gyeonggi-do, Korea as an assistant professor in the Department of Control and Instrumentation Engineering. Currently, he is a professor with the School of Electrical Engineering and Computer Science, Hanyang University. He stayed at Johns Hopkins University as a visiting professor from January 2004 to January 2005. His research interests include design, control, and application of surgical robots, parallel manipulator, micromanipulator, haptic device, and anthropomorphic manipulator systems.

Youngjin Choi received his B.S. degree in Precision Mechanical Engineering from Hanyang University, Seoul, Korea, in 1994, and his M.S. and Ph.D. degrees in the Mechanical Engineering from POSTECH, Pohang, Korea, in 1996 and 2002, respectively. Since 2005, he has been an assistant professor at the department of Electronic Systems Engineering of Hanyang University, Ansan, Korea. From 2002 to 2005, he was a senior research scientist at the intelligent robotics research center of the Korea Institute of Science and Technology (KIST). Also, he is the associate editor of the International Journal of Control, Automation & Systems and the IEEE Transactions on Robotics, His research interests include robust control, humanoid walking control, dual-arm manipulation rehabilitation robot, and bio-robotics.

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Lee, H., Jung, EJ., Yi, BJ. et al. Navigation strategy of multiple mobile robot systems based on the null-space projection method. Int. J. Control Autom. Syst. 9, 384–390 (2011). https://doi.org/10.1007/s12555-011-0221-4

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Keywords

Navigation