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

被引：19

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.

引用

页数：12

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