| Project/Area Number |
23800032
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Kyoto University |
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Principal Investigator |
KON Kazuyuki 京都大学, 大学院・工学研究科, 助教 (80614297)
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Keywords | 移動ロボット / フォーメーション制御 / 衝突回避 / モデル予測制御 / Pursuit-Evader問題 / 環境認識 / 自己位置推定 |
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| Research Abstract |
In this research, the multi-vehicle formation control problem is addressed. The research results are categorized into 2 parts; multi-vehicle formation control with localization uncertainty and collision avoidance, and cooperative formation control method for pursuit-evader problem. In the former part, we proposed the MPC based controller which ensures the collision avoidance among vehicles even under localization uncertainty. In the latter part, we applied the formation control method to the pursuit-evader problem, and proposed the method in which the vehicles explores the environment cooperatively.
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