Control of Multi-robot Formations and Behaviors Based on Decentralized Strategies

• Main Authors: Min-Tzung Chang, 張簡民崇
• Other Authors: Kuo-Yang Tu
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/36gvn6

碩士 === 國立高雄第一科技大學 === 系統與控制工程研究所 === 94 === ABSTRACT This thesis studies the multi-robot in formation control with three strategies and four formations(line, column, diamond and V formaion), and cooperate with disinged four behaviors : going forward, going backward, turning left and turning right, and two complex behaviors : crossing over a door and avoiding obstacles.We adjust the gains in control strategies for better performance. Our results include simulations using a simulator consists of five nonholonomic robots.