CONTROL METHOD AND A CONTROLLING SYSTEM, CAPABLE OF ADAPTIVELY CONTROLLING A PLURALITY OF ROBOTS FOR CAPTURING OR TRACKING A MOVING TARGET BASED ON A REFERENCE MODEL

摘要

PURPOSE: A control method and a controlling system are provided to track or capture a moving targeted object using local information such as a relative distance measured by a plurality of mobile robots.;CONSTITUTION: A control method and a controlling system comprise as follows. A first formula which is a kinematics model equation of a plurality of mobile robots(100) is calculated. A second formula which is a reference targeted model equation for tracking a target object is calculated. A position error is calculated based on the first and second formulas. A control signal controlling the group movement of the mobile robots is calculated in order to remove the position errors. The control signal is converted using the feedback information according to the driving of the mobile robots.;COPYRIGHT KIPO 2013;[Reference numerals] (100) Mobile robot i; (201) Target object modeling unit; (203) Reference target modeling unit; (207) Rotating matrix unit; (209) Adaptation rule application unit; (211) Speed control unit; (213) Integrator