2대의 트랙형 로봇을 이용한 선도추종 대형제어에 관한 기초 연구

Abstract

This paper studies on formation control of multi-robot with scanning laser range finder. In application of multi-robot for manganese nodules on deep seabed, it is difficult to detect the distance between robots, because of the plume from disturb of seabed. The distance could be detected or estimated from the underwater sonar devices and the position data of robots. However, in the position data measured from USBL(ultra-short baseline) system, acoustic noise from underwater environment is included inevitably. Therefore, to directly detect from underwater sonar sensor is feasible and efficient. This paper proposes formation control approach through distance detection of scanning laser range finder, which has same principal with underwater scanning sonar.sturb of seabed. The distance could be detected or estimated from the underwater sonar devices and the position data of robots. However, in the position data measured from USBL(ultra-short baseline) system, acoustic noise from underwater environment is included inevitably. Therefore, to directly detect from underwater sonar sensor is feasible and efficient. This paper proposes formation control approach through distance detection of scanning laser range finder, which has same principal with underwater scanning sonar.