Cooperative Transportation by Multi-robots with Selecting Leader

被引：4

作者：

Tohyama, Yoshitaka ^{[1
]}

Igarashi, Hiroshi ^{[1
]}

机构：

[1] Tokyo Denki Univ, Dept Elect & Elect Engn, Chiyoda Ku, Tokyo 1018457, Japan

来源：

IECON: 2009 35TH ANNUAL CONFERENCE OF IEEE INDUSTRIAL ELECTRONICS, VOLS 1-6 | 2009年

关键词：

D O I：

10.1109/IECON.2009.5415079

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper addresses the autonomous decentralized cooperation conveyance algorithm to improve the task efficiency by selecting a leader from other robots autonomously. This algorithm aims at coexistence of two exclusive features. One is the effectiveness that is a typical advantage of centralized control systems. The other is the adaptability and robustness to the environment which are advantages of autonomous-decentralized systems. From the several experimental results, the algorithm can improve the task efficiency in the cooperative conveyance including clever agent by human operation or known optimal trajectory. Further, to selects the larders on real-time, evaluation indexes by interaction of agents are discussed.

引用

页码：3966 / +

页数：2