2011 Fiscal Year Final Research Report
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)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Keio University |
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Principal Investigator |
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| Project Period (FY) |
2009 – 2011
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| 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 |
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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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