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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2009.8
- 수록면
- 2,274 - 2,279 (6page)
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초록· 키워드
오류제보하기
In the last few decades there have been several papers in the area of swarm robotics, in which researchers have considered the capture or transfer of an object using a large number of robots or agents. However in these cases the capture and transportation processes have not been optimized in terms of the minimum number of agents required or the best paths. We have earlier proposed the optimal capture and transportation of a moving object using only four agents. This paper is a further extension of our earlier work in which we experimentally evaluate the performance of the multi agent system to capture and transfer a moving 2D prismatic object avoiding obstacles using the least number of agents.A closed loop system is developed using a vision system that can optimally find the goal points on a moving object and control the robots to capture the object. After the object is captured it is optimally guided to the goal point. The results prove that the system can operate autonomously and in real time.
목차
Abstract
1. INTRODUCTION
2. OPTIMAL CAPTURE AND GUIDANCE OF A 2D PRISMATIC OBJECT
3. MOBILE ROBOT AND EXPERIMENTAL SETUP DEVELOPMENT
4. EXPERIMENTS AND RESULTS
5. CONCLUSION
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000766380