다중 집광기의 선회 동작에서의 대형 제어 전략에 관한 연구

Abstract

This paper deals with strategies of formation control for multi-miner. From the viewpoint of mining production, the multi-miner system might be more prospective than single-miner system. The system characteristics of multi-miner are analyzed based on taxonomies of multi-robot to identify problems of the multi-miner and to find out proper solutions. The formations of multi-miner are of great significance for the safe operation of miners connected with buffer, especially, in turning operations. Thus, this paper concentrates on the formation strategies in turning path. Two turning methods and three formations are presented for formation control. Numerical simulations showed that strategies of diagonal formation result in a good safety performance and a minimum turning space. The performance of an individual turning method for a diagonal formation strategies are verified by experiments using three ground mobile robots.