Real-time Obstacle Avoidance for a Swarm of Autonomous Mobile Robots

被引：20
作者：
Hedjar, Ramdane [1 ]
Bounkhel, Messaoud [2 ]
机构：
[1] King Saud Univ, Coll Comp & Informat Sci, Dept Comp Engn, Riyadh 11451, Saudi Arabia
[2] King Saud Univ, Coll Sci, Dept Math, Riyadh 11451, Saudi Arabia
来源：
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | 2014年 / 11卷
关键词：
Obstacle Avoidance; Smooth Motion; Swarm Mobile Robots; Sweeping Process; Predictive Control; NONCONVEX SWEEPING PROCESS;
D O I：
10.5772/58478
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we propose a computational trajectory generation algorithm for swarm mobile robots using local information in a dynamic environment. The algorithm plans a reference path based on constrained convex nonlinear optimization which avoids both static and dynamic obstacles. This algorithm is combined with one-step-ahead predictive control for a swarm of mobile robots to track the generated paths and reach the goals without collision. The numerical simulations and experimental results demonstrate the effectiveness of the proposed free-collision path planning algorithm.
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页数：12
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