원문정보
초록
영어
This paper focuses on developing a control method for a single-master multi-slave (SMMS)
system to cooperatively control a team of mobile agents for multi-robot multi-task multi-
target (MRMTMT) pairing. Major components of the developed control method are (1) mod-
i ed potential eld based leader-follower formation, (2) adaptive master-slave impedances,
(3) compensation for human induced errors and contact forces, and (4) robot-task-target
pairings. Component (1)-(3) have been developed for formation recon guration, collision
avoidance, and motion control for reliability and robustness.
Component (4) is derived from proven auction algorithms for MRMTMT cases, which
optimizes robot-task-target pairing based on heuristic data. The MRMTMT pairing method
is developed using a weighted attack guidance table (WAGT), which includes bene ts of
subteam-robot-task-target pairs. It converges rapidly - as is the case for auction algorithms
with integer bene ts. Simulations illustrated ecacy of a SMMS system with proposed
Component (1)-(4) of the control method for multi-target capturing and transporting.
목차
1 Introduction
2 Semi-autonomous teleoperation control method for a multi-robots-multi-targets approach
2.1 Multi-robot/multi-task/multi-target(MRMTMT)pairing method
2.2 SMMS teleoperation systems with the proposed modi cations
3 Simulation results
3.1 Simulation - Sim(1)
3.2 Simulation - Sim(2)
4 Conclusion & future work
References