Kunio Okita

Obstacle avoidance of a mobile robot group using a nonlinear oscillator network

In this paper, we propose and implement a formation control algorithm for a mobile robot group. Although obstacle avoidance is a highly essential function, it is not compatible with maintaining a formation. In previous studies, robots often switched their motion algorithms. However, there no concrete criteria exists for such decisions. In this paper, we employ the synchronization of nonlinear oscillators that communicate with each other. By using sensor signals, we vary the phase gaps among the oscillators. According to these phase gaps, we change gains to form a group in order to avoid obstacles. We have implemented the proposed system using actual robotic systems and have demonstrated its feasibility

Implementation of Formation Transition System Using Synchronization in a Mobile Robot Group

This study proposes an algorithm for the passage of a mobile robot group through a narrow space. We deal with a robot group composed of one leader and multiple unlabeled followers. A steady formation is realized by generating a Delaunay diagram using the profiles of surrounding robots. Further, we resolved a deadlock situation by using the phase gap of nonlinear oscillators to which the profiles of the surrounding obstacles are provided as inputs.We implement the proposed system in a real multi-robot system in order to demonstrate its effectiveness.