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A dynamic role assignment algorithm is proposed in the paper for formation control of multiple mobile robots. The goal of the algorithm is to reassign a role for each robot automatically during a formation is forming or switching. Many formation control systems have been successfully implemented and validated by supporting experimental results. Nevertheless, this research aims at providing an efficient...
An obstacle avoidance mechanism is developed in this paper for formation control of multiple mobile robots. This mechanism is designed based on the sequential situations when the robots likely have a chance to collide with each other. First, the obstacle avoidance is enabled if the distance between robot and obstacle is smaller than a designed distance and the obstacle is located on the way where...
An autonomous soccer robot system is developed in this research, and this system provided with an omnidirectional drive mechanism and an omni-directional vision. First of all, the forward and inverse differential kinematics of the omnidirectional robot is derived, based on which a kinematics controller of the robot is designed. Secondly, combined with the vision feedback, a servo control is devised...
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