Closed loop navigation for multiple holonomic vehicles
- 1 January 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2861-2866
- https://doi.org/10.1109/irds.2002.1041704
Abstract
We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expressions for the robot potential functions guarantee global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulationsKeywords
This publication has 13 references indexed in Scilit:
- A practical algorithm for planning collision-free coordinated motion of multiple mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- The dynamic approach to autonomous robot navigationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Analysis and classification of multiple robot coordination methodsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Nonholonomic stabilization with collision avoidance for mobile robotsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2001
- ALLIANCE: an architecture for fault tolerant multirobot cooperationIEEE Transactions on Robotics and Automation, 1998
- The uses of fuzzy logic in autonomous robot navigationSoft Computing, 1997
- Exact robot navigation using artificial potential functionsIEEE Transactions on Robotics and Automation, 1992
- The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star WorldsTransactions of the American Mathematical Society, 1991
- Robot Motion PlanningPublished by Springer Nature ,1991
- Robot navigation functions on manifolds with boundaryAdvances in Applied Mathematics, 1990