TY - GEN
T1 - Triangle formation motion planning of underwater multi-microrobot system
AU - Guo, Shuxiang
AU - Gao, Baofeng
AU - Ye, Xiufen
PY - 2008
Y1 - 2008
N2 - In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater Multimicrorobot 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, and we analysis the motion of the group microrobots to avoid the obstacles when maintaining the triangle formation. At last, we use MATLAB to make the formation motional simulation of the microrobot system when following a desired trajectory or path. The simulation results can help to control the team of microrobots.
AB - In this paper, in order to complete multitask underwater, we will propose a kind of novel underwater Multimicrorobot 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, and we analysis the motion of the group microrobots to avoid the obstacles when maintaining the triangle formation. At last, we use MATLAB to make the formation motional simulation of the microrobot system when following a desired trajectory or path. The simulation results can help to control the team of microrobots.
KW - ICPF
KW - Motion planning
KW - Mult-microrobot system
KW - Simulation
UR - http://www.scopus.com/inward/record.url?scp=56449107247&partnerID=8YFLogxK
U2 - 10.1109/ICAL.2008.4636154
DO - 10.1109/ICAL.2008.4636154
M3 - Conference contribution
AN - SCOPUS:56449107247
SN - 9781424425020
T3 - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
SP - 244
EP - 249
BT - Proceedings of the IEEE International Conference on Automation and Logistics, ICAL 2008
T2 - IEEE International Conference on Automation and Logistics, ICAL 2008
Y2 - 1 September 2008 through 3 September 2008
ER -