ドッキングしたModboatの任意構成におけるホロノミック制御
Holonomic Control of Arbitrary Configurations of Docked Modboats
複数の低コストモジュール型ロボットModboatを任意の形状でドッキングさせ、ポテンシャル場に基づく探索でホロノミックに制御する集中制御戦略を提案し、前後・左右速度とヨー角の同時制御を実験で示した。
著者: Zhijie Qiao, Gedaliah Knizhnik, Mark Yim
分類: cs.RO
原文アブストラクト
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional self-collision between the tails of neighboring modules in certain configurations; this becomes a challenge, however, when collective swimming as one connected component is desirable. Prior work has developed controllers that turn arbitrary configurations of docked Modboats into steerable vehicles, but they cannot counteract lateral forces and disturbances. In this work we present a centralized control strategy to create holonomic vehicles out of arbitrary configurations of docked Modboats using an iterative potential-field based search. We experimentally demonstrate that our controller performs well and can control surge and sway velocities and yaw angle simultaneously.
