Byung-joo Lee
Automatic Control Lab. Department of Electrical Eng. Korea Univ. Seoul, Korea
Seong-Oh Lee
Automatic Control Lab. Department of Electrical Eng. Korea Univ. Seoul, Korea
Kwan-Soo Lee
Automatic Control Lab. Department of Electrical Eng. Korea Univ. Seoul, Korea
Ladda ner artikel
Ingår i: RobocCup-99 Team Descriptions. Small and Middle Leagues
Linköping Electronic Conference Proceedings 3:5, s. 33-38
Linköping Electronic Articles in Computer and Information Science vol. 4 3:5, p. 33-38
Publicerad: 1999-12-05
ISBN:
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
This paper shall summarize the hardware and sofrware description of the overall system in short terms. Our robot was designed move as fast as possible keeping correctness. So; DSP CPU; high pulse encoder and Adaptive Control algorithm was used at the robot system. From the information of global vision system; centralized computer excutes overall game strategy and decides each robots movement. Then broadcast these commands to each robot. In planning robots path; we used simple but powerful algorithm.
[1] Hajime Asama; "Trends of Distributed Autonomous Robotics Systems" in Distributed Autonomous Robotics Systems I; Springer-Verlag Tokyo; 1994.
[2] H. Choset and J. Burdick; Sensor based planning and nonsmooth analysis; IEEE Conf. on Robotics and Automat.; pp. 3034-3041; 1994.
[3] H. Choset and J. Burdisk; Sensor based planning; part I: The generalized vorinoi graph; IEEE Conf. on Robotics and Automat.; pp. 1649-1655; 1995.
[4] H. Choset and J. Burdisk; Sensor based planning; part II: Incremental construction of the generalized voronoi graph; IEEE Conf. on Robotics and Automat.; pp. 1643-1648; 1995.
[5] D. Gaw and A. Meystel; Minimum-time navigation of an unmanned mobile robot in a 2-1/2D world with obstacles; IEEE Conf. on Robotics and Automat.; pp. 1670-1667; 1986.
[6] T. Lozano-Perez and M. A. Wesley; An algorithm for planning collision-free paths among polyhedral obstacles; Commu. ACM; vol. 22; no. 10; pp. 560-570; 1979.
[7] A. Meystel; A. Guez and G. Hillel; Minimum time path planning for a robot; IEEE Conf. on Robotics and Automat.; pp. 1670-1677; 1986.
[8] H. Nobori; A functional extension of the sucient condition to design a family of sensor-based deadlock-free path-planning algorithms; IEEE Proc. of IECON; pp. 1058-1063; 1994.
[9] S. Kambhampati and L. S. Davis; Multiresolution path planning for mobile robots; IEEE J. of Robotics and Automat.; vol. RA2; no 3; pp. 135-145; 1986.
