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Authors: Sisdarmanto Adinandra ; Jurjen Caarls ; Dragan Kostić and Hendrik Nijmeijer

Affiliation: Eindhoven University of Technology, Netherlands

Keyword(s): Coordinated Control, Non-holonomic Systems, High-level and Low-level Control, Collision Avoidance, Performance Evaluation.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Intelligent Transportation Technologies and Systems ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: We analyze performance of different strategies for coordinated control of mobile robots. By considering an environment of a distribution center, the robots should transport goods from place A to place B while maintaining the desired formation and avoiding collisions. We evaluate performance of two collision avoidance strategies, namely a high-level and low-level collision avoidance approach, each using different feedback information and update rate. As performance measure we take into account the time to accomplish the transportation task and the tracking errors of the robots. Evaluation is done in several experiments with seven mobile robots.

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Paper citation in several formats:
Adinandra, S.; Caarls, J.; Kostić, D. and Nijmeijer, H. (2010). PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS. In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-8425-01-0; ISSN 2184-2809, SciTePress, pages 63-71. DOI: 10.5220/0002943800630071

@conference{icinco10,
author={Sisdarmanto Adinandra. and Jurjen Caarls. and Dragan Kostić. and Hendrik Nijmeijer.},
title={PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2010},
pages={63-71},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002943800630071},
isbn={978-989-8425-01-0},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - PERFORMANCE OF HIGH-LEVEL AND LOW-LEVEL CONTROL FOR COORDINATION OF MOBILE ROBOTS
SN - 978-989-8425-01-0
IS - 2184-2809
AU - Adinandra, S.
AU - Caarls, J.
AU - Kostić, D.
AU - Nijmeijer, H.
PY - 2010
SP - 63
EP - 71
DO - 10.5220/0002943800630071
PB - SciTePress

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