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| Presentation | 2017-07-14 13:25 Coupled Kuramoto oscillator-based control laws for both formation and obstacle avoidance control of two-wheeled mobile robots Kevin Denamganai, Tadashi Nakamura, Naoyuki Hara, Keiji Konishi (Osaka Pref. Univ.)  NLP2017-44 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | Our previous study proposed a control law for two-wheeled mobile robots that is based on the synchronization phenomenon of coupled Kuramoto oscillators. The control law aims at achieving circular formation around a given target. We must deal with the issue of having robot colliding with potential obstacles while performing the desired encircling behavior, before being able to deploy such a robotic framework. The present report investigates two ways of extending the previous control law into exhibiting obstacle avoidance behaviors. The first possible extension is based on a limit cycle system, whereas the second possible extension is based on the evolution of the desired radius of the circular formation behavior. The control laws are then tested, validated, and compared in a robotic physic-based simulator entitled Gazebo. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | obstacle avoidance / formation control / circular formation / complex system / two-wheeled robot / swarm of robots / / | |
| Reference Info. | IEICE Tech. Rep., vol. 117, no. 121, NLP2017-44, pp. 87-91, July 2017. | |
| Paper # | NLP2017-44 | |
| Date of Issue | 2017-07-06 (NLP) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | NLP2017-44 |
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| Conference Information | |
| Committee | NLP |
| Conference Date | 2017-07-13 - 2017-07-14 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Miyako Island Marine Terminal |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | etc. |
| Paper Information | |
| Registration To | NLP |
| Conference Code | 2017-07-NLP |
| Language | English |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Coupled Kuramoto oscillator-based control laws for both formation and obstacle avoidance control of two-wheeled mobile robots |
| Sub Title (in English) | |
| Keyword(1) | obstacle avoidance |
| Keyword(2) | formation control |
| Keyword(3) | circular formation |
| Keyword(4) | complex system |
| Keyword(5) | two-wheeled robot |
| Keyword(6) | swarm of robots |
| Keyword(7) | |
| Keyword(8) | |
| 1st Author's Name | Kevin Denamganai |
| 1st Author's Affiliation | Osaka Prefecture University (Osaka Pref. Univ.) |
| 2nd Author's Name | Tadashi Nakamura |
| 2nd Author's Affiliation | Osaka Prefecture University (Osaka Pref. Univ.) |
| 3rd Author's Name | Naoyuki Hara |
| 3rd Author's Affiliation | Osaka Prefecture University (Osaka Pref. Univ.) |
| 4th Author's Name | Keiji Konishi |
| 4th Author's Affiliation | Osaka Prefecture University (Osaka Pref. Univ.) |
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| Speaker | Author-1 |
| Date Time | 2017-07-14 13:25:00 |
| Presentation Time | 25 minutes |
| Registration for | NLP |
| Paper # | NLP2017-44 |
| Volume (vol) | vol.117 |
| Number (no) | no.121 |
| Page | pp.87-91 |
| #Pages | 5 |
| Date of Issue | 2017-07-06 (NLP) |
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