Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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A Collaboration Method to Confine a Robot with Multiple Robots

다 개체 로봇의 협업기법에 관한 연구

  • Choi, Jun-Yong (Dept. of Mechatronics, Seoul Nat'l Univ. of Technology) ;
  • Kim, Dong-Hwan (Dept. of Mechatronics, Seoul Nat'l Univ. of Technology) ;
  • Lee, Gui-Hyung (School of Mechanical Design and Automation Engineering, Seoul Nat'l Univ. of Technology)
  • 최준용 (서울산업대학교 산업대학원 메카트로닉스공학과) ;
  • 김동환 (서울산업대학교 산업대학원 메카트로닉스공학과) ;
  • 이귀형 (서울산업대학교 기계설계 자동화공학부)
  • Received : 2008.07.08
  • Accepted : 2010.06.16
  • Published : 2010.08.01
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Abstract

In this study, we proposed duty executions to confine a robot in a specific place with multiple robots. The proposed method involved the use of a role classifier for assigning labor roles, behavior selector for each robot, and a collaboration manager for handling complex situations. Further, we verified the validity of the proposed method by performing simulations to confine a robot in the specific location by using multiple robots.

이 연구에서는 다 개체 로봇에 의해 하나의 로봇을 자율적으로 포획하는 협업제어에 관한 연구를 제안한다. 제안된 방안은 각 로봇에 대한 작업역할을 지정하는 역할 분류기, 단일 로봇의 행동 선택기 그리고 복잡한 상황을 대처하는 협업관리기로 구성되어 있다. 이 연구에서는 주변의 다개체 로봇의 다양한 행동을 통하여 단위 로봇을 특정지역으로 몰아가는 결과를 시뮬레이션을 통하여 그 적절성을 검증하였다.

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References

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