Article

Article title DISTRIBUTED MOTION CONTROL SYSTEM FOR GROUP OF LARGE-SIZE OBJECTS
Authors I.O. Shapovalov
Section SECTION I. MATHEMATICAL METHODS OF SYNTHESIS OF SYSTEMS
Month, Year 02, 2013 @en
Index UDC 681.58:621.865.8
DOI
Abstract The using of transport robot group for coordinated object moving is discussed in this paper. The task of object moving along given path with given velocity is stated. Implementation of group robot collaboration using quasi-force fields is proposed. The basic analytical expressions for the proposed distributed system design method are given. Based on the restrictions imposed on the tractive effort of mobile robots motion control algorithm for individual objects is designed. The dynamic model of moving objects is presented. The efficiency of the proposed distributed motion control system is confirmed by the simulation results.

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Keywords Robot group; distributed system; motion control; quasi-force fields.
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