Detailed Information
Cited 0 time in 
Cited 2 time in 
Cited 2 time in
Metadata Downloads
Basic control algorithm for parallel formation of multi-mining robots
- Authors
- Yoon, S.-M.; Yeu, T.-K.; Hong, S.; Kim, S.-B.
- Issue Date
- 2014
- Publisher
- Korea Ocean Research and Development Institute
- Keywords
- Follow-the-carrot; Formation control; Leader-follower method; Multi-mining robots; Pure pursuit
- Citation
- Ocean and Polar Research, v.36, no.4, pp 465 - 473
- Pages
- 9
- Journal Title
- Ocean and Polar Research
- Volume
- 36
- Number
- 4
- Start Page
- 465
- End Page
- 473
- ISSN
- 1598-141X
2234-7313
- Abstract
- This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified. ？ 2014, Korea Ocean Research and Development Institute. All rights reserved.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - ETC > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.