Multiple Robots Formation Manoeuvring and Collision Avoidance Strategy

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 turning-compliant waypoints supporting the multi-robot fo...

Full description

Saved in:
Bibliographic Details
Published in:国际自动化与计算杂志：英文版 2017 (6), p.696-705
Main Author: Ao-Lei Yang Wasif Naeem Min-Rui Fei Li Liu Xiao-Wei Tu
Format: Article
Language:English
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary: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 turning-compliant 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-decomposition-aggregation 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.
ISSN:1476-8186
1751-8520