主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2019
開催日: 2019/06/05 - 2019/06/08
In this paper, we describe an adaptive cruise control method of mobile robots using synchronization pattern of coupled van der Pol (VDP) equations. VDP equation which is a nonlinear oscillator is known to have a limit cycle. When multiple VDP equations are coupled mutually, mutual entrainment occurs, and periodic solutions of coupled VDP equations synchronize in various patterns. We propose a new method that distance between the robots are controlled by varying synchronization pattern in response to states of robots. Effectiveness of the proposed control method is verified by actual machines.