The Experts below are selected from a list of 312 Experts worldwide ranked by ideXlab platform
Dongkyoung Chwa - One of the best experts on this subject based on the ideXlab platform.
-
Hierarchical Formation Control Based on a Vector Field Method for Wheeled Mobile Robots
IEEE Transactions on Robotics, 2012Co-Authors: Ji-wook Kwon, Dongkyoung ChwaAbstract:This paper proposes a hierarchical formation control using a target tracking control law based on the vector Field Method such that a decentralized and flexible formation control can be achieved without additional motion planning. Previously, many researchers have dealt with the control laws for the rigid formation, where the line of sight toward the leader is controlled for the leader-follower formation control. However, a width change or a collision of the formation can occur since a limited motion of the rigid formation can occur when the formation control maintains the line of sight. Therefore, the formation of multiple mobile robots is required to be flexible, keeping the width and curvature of the formation. To this end, a formation control law based on a vector Field Method is proposed, and a hierarchical formation structure is introduced in such a way that it consists of a line formation and a column formation based on the leader-follower formation strategy. First, a subgroup, which consists of several robots, is generated using the line formation, and then, the overall formation structure is constructed from several subgroups using the column formation. Finally, we show the stability of the whole formation. The stability analysis and simulation results of the proposed hierarchical formation control using this vector Field Method are included to demonstrate the practical applicability of the proposed Method.
-
Nonlinear control for column formation of wheeled mobile robots based on vector Field Method
2009 ICCAS-SICE, 2009Co-Authors: Ji-wook Kwon, Dongkyoung Chwa, Suk-kyo HongAbstract:In this paper, the nonlinear control algorithm for column formation of the multiple mobile robots based on vector Field Method is proposed. For maintaining the column formation, the nonlinear controller which maintains the space between the leader and follower and makes the follower be on the route of the leader is designed based on vector Field Method.
Ji-wook Kwon - One of the best experts on this subject based on the ideXlab platform.
-
Hierarchical Formation Control Based on a Vector Field Method for Wheeled Mobile Robots
IEEE Transactions on Robotics, 2012Co-Authors: Ji-wook Kwon, Dongkyoung ChwaAbstract:This paper proposes a hierarchical formation control using a target tracking control law based on the vector Field Method such that a decentralized and flexible formation control can be achieved without additional motion planning. Previously, many researchers have dealt with the control laws for the rigid formation, where the line of sight toward the leader is controlled for the leader-follower formation control. However, a width change or a collision of the formation can occur since a limited motion of the rigid formation can occur when the formation control maintains the line of sight. Therefore, the formation of multiple mobile robots is required to be flexible, keeping the width and curvature of the formation. To this end, a formation control law based on a vector Field Method is proposed, and a hierarchical formation structure is introduced in such a way that it consists of a line formation and a column formation based on the leader-follower formation strategy. First, a subgroup, which consists of several robots, is generated using the line formation, and then, the overall formation structure is constructed from several subgroups using the column formation. Finally, we show the stability of the whole formation. The stability analysis and simulation results of the proposed hierarchical formation control using this vector Field Method are included to demonstrate the practical applicability of the proposed Method.
-
Nonlinear control for column formation of wheeled mobile robots based on vector Field Method
2009 ICCAS-SICE, 2009Co-Authors: Ji-wook Kwon, Dongkyoung Chwa, Suk-kyo HongAbstract:In this paper, the nonlinear control algorithm for column formation of the multiple mobile robots based on vector Field Method is proposed. For maintaining the column formation, the nonlinear controller which maintains the space between the leader and follower and makes the follower be on the route of the leader is designed based on vector Field Method.
Shuzhi Sam Ge - One of the best experts on this subject based on the ideXlab platform.
-
dynamic motion planning for mobile robots using potential Field Method
Autonomous Robots, 2002Co-Authors: Shuzhi Sam GeAbstract:The potential Field Method is widely used for autonomous mobile robot path planning due to its elegant mathematical analysis and simplicity. However, most researches have been focused on solving the motion planning problem in a stationary environment where both targets and obstacles are stationary. This paper proposes a new potential Field Method for motion planning of mobile robots in a dynamic environment where the target and the obstacles are moving. Firstly, the new potential function and the corresponding virtual force are defined. Then, the problem of local minima is discussed. Finally, extensive computer simulations and hardware experiments are carried out to demonstrate the effectiveness of the dynamic motion planning schemes based on the new potential Field Method.
J. Appel-hansen - One of the best experts on this subject based on the ideXlab platform.
-
Fields from point sources using the aperture Field Method
IEEE Transactions on Antennas and Propagation, 1991Co-Authors: J. Appel-hansenAbstract:It is shown that the Field of arbitrary point sources can be found from the aperture Field Method. It is demonstrated that the exact result in the far Field is easily obtained for an electric Hertzian dipole in free space.
Young-chang Kang - One of the best experts on this subject based on the ideXlab platform.
-
Advanced Fuzzy Potential Field Method for Mobile Robot Obstacle Avoidance
Computational Intelligence and Neuroscience, 2016Co-Authors: Jong-wook Park, Hwan-joo Kwak, Young-chang KangAbstract:An advanced fuzzy potential Field Method for mobile robot obstacle avoidance is proposed. The potential Field Method primarily deals with the repulsive forces surrounding obstacles, while fuzzy control logic focuses on fuzzy rules that handle linguistic variables and describe the knowledge of experts. The design of a fuzzy controller—advanced fuzzy potential Field Method AFPFM—that models and enhances the conventional potential Field Method is proposed and discussed. This study also examines the rule-explosion problem of conventional fuzzy logic and assesses the performance of our proposed AFPFM through simulations carried out using a mobile robot.
