Artificial coordinating field based real-time coordinating collision-avoidance planning for multiple mobile robots

Xingjian Jing, Yue Chao Wang, Da Long Tan

Research output: Journal article publicationJournal articleAcademic researchpeer-review

7 Citations (Scopus)

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.
Original languageEnglish
Pages (from-to)757-764
Number of pages8
JournalKongzhi Lilun Yu Yingyong/Control Theory and Applications
Volume21
Issue number5
Publication statusPublished - 1 Oct 2004
Externally publishedYes

Keywords

  • Artificial coordinating fields
  • Coordinating collision avoidance
  • Dynamic uncertain environments
  • Multiple mobile robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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