In this paper, we present coordination algorithms for an heterogeneous robotic group consisting of a mobile manipulator and a number of mobile sensing agents to cooperatively estimate a toxic field and trace its maximum point. In particular, we treat the mobile manipulator as a master machine and mobile sensing agents as slave machines such that, at the converged configuration, the end effector of the manipulator can reach the maximum point. The unknown field has been modeled by a network of radial basis functions and mobile robots are coordinated by flocking and gradient control algorithms based on their estimated fields. A simulation study demonstrates the validity of the proposed scheme in an industrial disaster or emergency scenario.
- Dynamic Systems and Control Division
Cooperative Field Estimation and Tracking by Autonomous Manipulator and Mobile Robots
- Views Icon Views
- Share Icon Share
- Search Site
Jeon, S, & Choi, J. "Cooperative Field Estimation and Tracking by Autonomous Manipulator and Mobile Robots." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 2: Legged Locomotion; Mechatronic Systems; Mechatronics; Mechatronics for Aquatic Environments; MEMS Control; Model Predictive Control; Modeling and Model-Based Control of Advanced IC Engines; Modeling and Simulation; Multi-Agent and Cooperative Systems; Musculoskeletal Dynamic Systems; Nano Systems; Nonlinear Systems; Nonlinear Systems and Control; Optimal Control; Pattern Recognition and Intelligent Systems; Power and Renewable Energy Systems; Powertrain Systems. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 449-456. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8844
Download citation file: