Synthesis of Multi-robot Formation Manoeuvre and Collision Avoidance

被引：0

作者：

Yang, Aolei ^{[1
]}

Naeem, Wasif ^{[2
]}

Fei, Minrui ^{[1
]}

Liu, Li ^{[1
]}

Tu, Xiaowei ^{[1
]}

机构：

[1] Shanghai Univ, Sch Mechatron Engn & Automat, Shanghai Key Lab Power Stn Automat Technol, Shanghai 200072, Peoples R China

[2] Queens Univ Belfast, Sch Elect Elect Engn & Comp Sci, Belfast BT9 5AH, Antrim, North Ireland

来源：

COMPUTATIONAL INTELLIGENCE, NETWORKED SYSTEMS AND THEIR APPLICATIONS | 2014年 / 462卷

关键词：

path planning; formation control; manoeuvring waypoints; line-of-sight; collision avoidance;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents the synthesis of a multi-robot formation manoeuvre and collision avoidance. Turning-compliant waypoints are first achieved to support the multi-robot formation manoeuvre. The formation-based collision avoidance is then presented to translate the collision avoidance problem into the formation stability problem. The extension-decomposition-aggregation scheme is next employed to solve both the formation control problem and the collision avoidance problem during the multi-robot formation manoeuvre. Simulation study finally shows that the formation control and the collision avoidance can be simultaneously solved if the stability of the expanded formation including unidentified objects can be satisfied.

引用

页码：533 / 542

页数：10

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