A waypoint navigation method with collision avoidance using an artificial potential method on random priority

This paper proposes a waypoint navigation method with collision avoidance using an artificial potential method on random priority. To establish a multi-robot navigation system that consists of various tasks, the navigation system needs to avoid collisions by communicating with each robot path on-sit...

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Bibliographic Details
Published in:Artificial life and robotics 2020-05, Vol.25 (2), p.278-285
Main Authors: Yaguchi, Yuichi, Tamagawa, Kyota
Format: Article
Language:English
Subjects:
Algorithms
Artificial Intelligence
Automatic pilots
Collision avoidance
Communication
Computation by Abstract Devices
Computer Science
Control
Delaunay triangulation
Mechatronics
Multiple robots
Navigation systems
Original Article
Path planning
Robotics
Waypoints
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Summary:This paper proposes a waypoint navigation method with collision avoidance using an artificial potential method on random priority. To establish a multi-robot navigation system that consists of various tasks, the navigation system needs to avoid collisions by communicating with each robot path on-site. Robots have an autopilot system that includes waypoint navigation, but using this navigation method to avoid collisions is more difficult than using entire path planning. For waypoint-based path planning, we proposed a novel waypoint correction method using the artificial potential method with random priority. In addition to that, we proposed a speeding up algorithm for the artificial potential method with k -nearest neighbor and Delaunay triangulation. Our experimental results show that using random priority is sufficient to provide over 80% improvement to reach the desired speed, and the proposed random priority is similar to using general wireless conditions such as slotted ALOHA.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-020-00583-w