Navigation of Multiple Robots in Formative Manner in an Unknown Environment using Artificial Potential Field Based Path Planning Algorithm

被引:19
作者
Das, Madhu Sudan [1 ]
Sanyal, Sourish [2 ]
Mandal, Sanjoy [3 ]
机构
[1] Indian Inst Technol, Dhanbad, India
[2] Cooch Behar Govt Engn Coll, Elect & Commun Engn Dept, Cooch Behar, West Bengal, India
[3] IIT Dhanbad, Elect Engn Dept, Dhanbad, Jharkhand, India
关键词
Mobile robots; Artificial Potential Field (APF); Path planning; Uncertain environment; PSO; A*; RRT; GA; COOPERATIVE CONTROL; OBSTACLE AVOIDANCE; STRATEGIES; UAVS;
D O I
10.1016/j.asej.2021.101675
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
This paper proposes a new algorithm for multiple robots that can navigate from source to goal position in a coordinated and formative manner in an optimum path and time, efficiently avoiding static and dynamic obstacles. The proposed algorithm is applied here to track surveillance for two and four robots from starting point to the goal point in an obstacle environment without collision. This algorithm is inspired by the concept of the Artificial Potential Field (APF) method and behavior-based approximate reasoning. An exhaustive search approach is used to avoid the randomly appeared obstacles, approxi-mately estimate positions of obstacles, thus reaching the surveillance point and then tracking the allotted path for the robots. The robots are governed to move in real-time, maintaining a formation between them to track the assigned path cooperatively. The performance of this algorithm is validated in a real-time and simulation environment using MATLAB/Simulink. It is observed from the results of performance measur-ing parameters path length and travel time that the proposed algorithm outperforms than existing A*, RRT, and GA algorithm.(c) 2022 THE AUTHORS. Published by Elsevier BV on behalf of Faculty of Engineering, Ain Shams University This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).
引用
收藏
页数:15
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