| Presentation | 2017-07-14 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, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(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) |
| Keyword(in English) | obstacle avoidanceformation controlcircular formationcomplex systemtwo-wheeled robotswarm of robots |
| Paper # | NLP2017-44 |
| Date of Issue | 2017-07-06 (NLP) |
| Conference Information | |
| Committee | NLP |
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| Conference Date | 2017/7/13(2days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Miyako Island Marine Terminal |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | etc. |
| Chair | Masaharu Adachi(Tokyo Denki Univ.) |
| Vice Chair | Norikazu Takahashi(Okayama Univ.) |
| Secretary | Norikazu Takahashi(Nagaoka Univ. of Tech.) |
| Assistant | Toshihiro Tachibana(Shonan Inst. of Tech.) / Masayuki Kimura(Kyoto Univ.) |
| Paper Information | |
| Registration To | Technical Committee on Nonlinear Problems |
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| Language | ENG |
| 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 avoidanceformation controlcircular formationcomplex systemtwo-wheeled robotswarm of robots |
| 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.) |
| Date | 2017-07-14 |
| Paper # | NLP2017-44 |
| Volume (vol) | vol.117 |
| Number (no) | NLP-121 |
| Page | pp.pp.87-91(NLP), |
| #Pages | 5 |
| Date of Issue | 2017-07-06 (NLP) |