다중 집광기의 대형제어를 위한 선회 동작에 관한 연구

Abstract

In the earlier studies on multi-robot system, multi-robot is more advantageous than one robot in terms of efficiency, flexibility, robustness, cost, etc. So, this paper considers an application of multi-robot system to mining system for improvement of mining production. The mining path is composed of two section, straight and turning. The straight section needs to the formation keeping and the path tracking for mining operation. And the turning section needs the flexible turning. Thus, two sections need an individually control method to effectively collect the nodules by multi-miner. The turning section is concentrically considered in the domain of an efficient turning time and a minimum turning section. In this paper, the efficiency of new strategy is verified through numerical simulation.