Detailed Information

Cited 0 time in webofscience Cited 0 time in scopus
Metadata Downloads

A study on strategy of formation control for multi-miner in turning operation

Authors
Yoon, S.-M.Yeu, T.-K.Park, S.-J.Hong, S.Kim, S.-B.
Issue Date
2011
Keywords
Distributed Robotics; Formation Control; Mobile Robots; Multi-Miner System; Multi-Robot System
Citation
OCEANS'11 - MTS/IEEE Kona, Program Book
Journal Title
OCEANS'11 - MTS/IEEE Kona, Program Book
URI
https://www.kriso.re.kr/sciwatch/handle/2021.sw.kriso/8845
ISSN
0000-0000
Abstract
This paper deals with an applicability of multirobot concept to deep-seabed mining system in aim of performance enhancement. From the viewpoint of mining production, a multi-miner system might be more prospective than single-miner. 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. Formations of multi-miner following mining paths are of great significance for the safe operation of miners connected with buffer, especially, in turning operations. Thus, this paper concentrates on the formation control method in turning path. Two turning methods and three formations are presented for formation control. Numerical simulations showed that strategies of diagonal formation result in good safety performance. The performance of the diagonal formation strategies are verified by experiments using three ground mobile robots. ? 2011 MTS.
Files in This Item
There are no files associated with this item.
Appears in
Collections
ETC > 1. Journal Articles

qrcode

Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.

Related Researcher

Researcher Yeu, Tae Kyeong photo

Yeu, Tae Kyeong
해양공공디지털연구본부
Read more

Altmetrics

Total Views & Downloads

BROWSE