Abstract
To overcome the drawbacks of the conventional artificial potential fields in motion planning of mobile robots for dynamic uncertain environments, an artificial coordinating field (ACF) is proposed. Definitions and basic designs of the ACFs were investigated with regard to the collision risk and motion constraints of mobile robots. Based on the ACFs, an effective algorithm without the dead-lock for coordinating collision avoidance of multiple mobile robots in dynamic uncertain environments was developed. The theoretical analysis and simulations illustrated our results.
| Translated title of the contribution | Artificial coordinating field based real-time coordinating collision-avoidance planning for multiple mobile robots |
|---|---|
| Original language | Chinese (Simplified) |
| Pages (from-to) | 757-764 |
| Journal | 控制理论与应用/Control Theory & Applications |
| Volume | 21 |
| Issue number | 5 |
| Publication status | Published - Oct 2004 |
| Externally published | Yes |
Research Keywords
- 人工协调场
- 动态不确定环境
- 协调避碰
- 多机器人
- Artificial coordinating fields
- Dynamic uncertain environments
- Coordinating collision avoidance
- Multiple mobile robots
