TY - GEN
T1 - Motion planning of underwater Multi-microrobot System
AU - Shuxiang, Guo
AU - Xiufen, Ye
AU - Gao, Baofeng
PY - 2008
Y1 - 2008
N2 - In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater Multi-microrobot System which is consist of a mother submarine and several microrobots with ICPF (Ionic Conducting Polymer Film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation methods and motion planning algorithms of several microrobots. At last, we use MATLAB to make the formation motional simulation of the microrobot system when following a desired trajectory or path. And we use OPENGL to realize the circle motion of the microrobot system. The simulation results can help us to control the team of microrobots to keep the Triangle Formation.
AB - In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater Multi-microrobot System which is consist of a mother submarine and several microrobots with ICPF (Ionic Conducting Polymer Film) actuators. Then we simply design the structure and close-loop control system of the microrobot system, study the mission planning and coordinate motion with the formation methods and motion planning algorithms of several microrobots. At last, we use MATLAB to make the formation motional simulation of the microrobot system when following a desired trajectory or path. And we use OPENGL to realize the circle motion of the microrobot system. The simulation results can help us to control the team of microrobots to keep the Triangle Formation.
KW - ICPF
KW - Motion planning
KW - Mult-microrobot System
KW - Simulation
UR - https://www.scopus.com/pages/publications/64949108013
U2 - 10.1109/ICMA.2008.4798840
DO - 10.1109/ICMA.2008.4798840
M3 - Conference contribution
AN - SCOPUS:64949108013
SN - 9781424426324
T3 - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
SP - 690
EP - 695
BT - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
T2 - 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Y2 - 5 August 2008 through 8 August 2008
ER -