Multiple robots formation manoeuvring and collision avoidance strategy

被引：7
作者：
Yang A.-L. [1 ]
Naeem W. [2 ]
Fei M.-R. [1 ]
Liu L. [1 ]
Tu X.-W. [1 ]
机构：
[1] Shanghai Key Laboratory of Power Station Automation Technology, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai
[2] School of Electronics, Electrical Engineering and Computer Science, Queen’s University Belfast, Belfast
来源：
International Journal of Automation and Computing | 2017年 / 14卷 / 6期
关键词：
collision avoidance; formation control; line-of-sight; manoeuvring waypoints; Path planning;
D O I：
10.1007/s11633-016-1030-2
中图分类号：
学科分类号：
摘要：
This paper presents a multiple robots formation manoeuvring and its collision avoidance strategy. The direction priority sequential selection algorithm is employed to achieve the raw path, and a new algorithm is then proposed to calculate the turningcompliant waypoints supporting the multi-robot formation manoeuvre. The collision avoidance strategy based on the formation control is presented to translate the collision avoidance problem into the stability problem of the formation. The extension-decompositionaggregation scheme is next applied to solve the formation control problem and subsequently achieve the collision avoidance during the formation manoeuvre. Simulation study finally shows that the collision avoidance problem can be conveniently solved if the stability of the constructed formation including unidentified objects can be satisfied. © 2016, Institute of Automation, Chinese Academy of Sciences and Springer-Verlag GmbH Germany.
引用
收藏
页码：696 / 705
页数：9
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