다중 로봇의 경로 및 대형 제어를 위한 실험 기반 구축

Abstract

The field test of underwater vehicles such as crawler or AUV(Autonomous Underwater Vehicle) with incomplete control algorithm has great risk as well as is needed high cost and much time. To solve this difficulty, the method using the ground vehicle maybe be considered based on the similar sensing system of underwater. This paper introduces about the establishment of test-bed system for the development of path keeping and formation control of multi-robot. The test-bed system is composed of ultrasonic positioning system, two mobile robots with Linux based embedded controller, supervisor computer and wireless communication modules. Particularly, the measurement of robot position is achieved by the ultrasonic positioning system, which is similar to the characteristic of LBL(Long Base Line) system in the water. Through the test-bed system, the development and verification of algorithms related to multi robot control can be achieved easily.