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 language | English |
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Pages (from-to) | 757-764 |
Number of pages | 8 |
Journal | Kongzhi Lilun Yu Yingyong/Control Theory and Applications |
Volume | 21 |
Issue number | 5 |
Publication status | Published - 1 Oct 2004 |
Externally published | Yes |
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