Van‐Phong Vu, T. Nguyen, Xuan-Sang Nguyen, Van-Tung Le, V. Ngo, D. Pham, Hoang Kim Uyen
{"title":"多移动机器人系统最优多目标路径规划控制","authors":"Van‐Phong Vu, T. Nguyen, Xuan-Sang Nguyen, Van-Tung Le, V. Ngo, D. Pham, Hoang Kim Uyen","doi":"10.1109/ICSSE58758.2023.10227075","DOIUrl":null,"url":null,"abstract":"In this paper, the problems related to cooperative control for the multiple mobile robot system (MMRS) is presented. The LIDAR sensor is employed to obtain the 2D map of the indoor space. The formation control and the leader-following algorithm are applied to control the MMRS moving in a specific formation. Additionally, this paper considers the scenario that the MMRS has to move to several targets in the indoor space with many obstacles. Therefore, the indoor travelling salesman problem-based Ant Colony Optimization (ACO) is studied in this work to determine the optimal moving path of the MMRS. To prove the effectiveness and merit of the proposed methods, the simulation results are provided in this article.","PeriodicalId":280745,"journal":{"name":"2023 International Conference on System Science and Engineering (ICSSE)","volume":"42 4","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Optimal Multi-Target Path Planing Control for Multiple Mobile Robot System\",\"authors\":\"Van‐Phong Vu, T. Nguyen, Xuan-Sang Nguyen, Van-Tung Le, V. Ngo, D. Pham, Hoang Kim Uyen\",\"doi\":\"10.1109/ICSSE58758.2023.10227075\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, the problems related to cooperative control for the multiple mobile robot system (MMRS) is presented. The LIDAR sensor is employed to obtain the 2D map of the indoor space. The formation control and the leader-following algorithm are applied to control the MMRS moving in a specific formation. Additionally, this paper considers the scenario that the MMRS has to move to several targets in the indoor space with many obstacles. Therefore, the indoor travelling salesman problem-based Ant Colony Optimization (ACO) is studied in this work to determine the optimal moving path of the MMRS. To prove the effectiveness and merit of the proposed methods, the simulation results are provided in this article.\",\"PeriodicalId\":280745,\"journal\":{\"name\":\"2023 International Conference on System Science and Engineering (ICSSE)\",\"volume\":\"42 4\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-07-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 International Conference on System Science and Engineering (ICSSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSSE58758.2023.10227075\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on System Science and Engineering (ICSSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSSE58758.2023.10227075","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Optimal Multi-Target Path Planing Control for Multiple Mobile Robot System
In this paper, the problems related to cooperative control for the multiple mobile robot system (MMRS) is presented. The LIDAR sensor is employed to obtain the 2D map of the indoor space. The formation control and the leader-following algorithm are applied to control the MMRS moving in a specific formation. Additionally, this paper considers the scenario that the MMRS has to move to several targets in the indoor space with many obstacles. Therefore, the indoor travelling salesman problem-based Ant Colony Optimization (ACO) is studied in this work to determine the optimal moving path of the MMRS. To prove the effectiveness and merit of the proposed methods, the simulation results are provided in this article.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
