| Budget Amount *help |
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2011: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2009: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Research Abstract |
This research dealt with cooperative grasping by distributed vehicle swarms. First, we constructed multiple mobile robot control systems, and derived a mathematical model for the system. Then the enclosure control methodology corresponding to the time-varying information structure was derived and the verification by control simulations and experiments was performed. Finally the grasping control for time-varying information structure between mobile robots was proposed. We proved the asymptotical convergence of the closed-loop systems and cooperative grasping was achieved. Several simulations/experiments showed the effectiveness of the proposed cooperative control.
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