Adaptive Generation of Desired Velocity Field for Leader-Follow Type Cooperative Mobile Robots with Decentralized PVFC
نویسندگان
چکیده
In this paper, we propose an adaptive generation method of desired velocity eld for leader-follower type cooperative mobile robots with decentralized PVFC which is a decentralized control algorithm of multiple robots handling a common object in coordination. The proposed control method for cooperative mobile robots is constructed by extending the PVFC. This research is di erent from the previous work in which a common desired velocity eld for cooperative PVFC and all cooperative mobile robots was only following the same desired velocity eld using the proposed method supervisor can easily specify the behavior of the mobile robots. The stability and boundedness of the resultant system with the proposed control algorithm is also guaranteed. Finally, the proposed control algorithm is examined by computer simulations for cooperative tasks with two mobile robots, and the results illustrate the validity of the proposed control algorithm. The validity of the proposed method for two mobile robots will be reported at the presentation.
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