kumoh national institute of technology
Networked Systems Lab.

김성욱, 김동성 "스프링 댐퍼 특성을 이용한 네트워크 기반 군집 로봇의 경로 제어 기법", Institute of control, robotics and systems, vol. 16, No. 1, pp. 61-68, 2010.
By : 관리자
Date : 2013-02-04
Views : 946


This paper proposes networked swarm robotic systems with group based control scheme using spring damper impendence feature. The proposed algorithm is applied to keep system arrangement in unexpected situations based on the spring-damper impedance and fuzzy logic. Using the proposed scheme, each robot overcome collision problems efficiently. The structure of UBSR (UMPC Based Swarm Robot) system consists of user level, cognitive level, and executive level. This structure is designed to easily meet the different configuration requirements for other levels. Simulation results show an availability of the proposed method.