Cooperative Grasping Control by Using Swarm Vehicles with Time-Varying Information Structure
Project/Area Number |
21560458
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Research Category |
Grant-in-Aid for Scientific Research (C)
|
Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Control engineering
|
Research Institution | Keio University |
Principal Investigator |
|
Project Period (FY) |
2009 – 2011
|
Project Status |
Completed (Fiscal Year 2011)
|
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)
|
Keywords | 群移動ロボット / 情報結合構造 / 協調把持 / 協調取り囲み / マルチエージェントシステム / フォーメーション制御 / 漸近安定性 / 合意問題 / マルチエ-ジェントシステム |
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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Report
(4 results)
Research Products
(78 results)