NDLI: Experimental comparison of a directed and a non-directed potential field approach to formation navigation

Content Provider	IEEE Xplore Digital Library
Author	Schneider, F.E. Wildermuth, D.
Copyright Year	2005
Description	Author affiliation: Res. Establ. for Appl. Sci., Wachtberg, Germany (Schneider, F.E.; Wildermuth, D.)
Abstract	The field of multirobot systems (MRS) is continuously drawing more attention. The DARPA SDR program and the RoboSoccer/RobotRescue contests have shown the great potential of this field. One of the increasingly popular uses of the field of MRS is in communication and sensor-networks. These applications require a task depended navigation. The MRS sub-problem of formation navigation is predestined for this purpose. This paper presents an improvement of the classical potential field approach for motion co-ordination in formations of MRS. The approach is briefly compared to related work. For the subtask of moving in formation, a solution based on a directed potential field is presented. Different forces belonging to other robots, obstacles and the aspired shape of formation are combined and used to move each robot to its desired position inside the formation. While moving in formation, the group is able to avoid obstacles and approach towards a specified target. First experiments that show the differences and improvements in comparison to the classical method are presented.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	21
Ending Page	26
File Size	3431797
Page Count	6
File Format	PDF
ISBN	0780393554
DOI	10.1109/CIRA.2005.1554249
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-06-27
Publisher Place	Finland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot kinematics Robot sensing systems Orbital robotics Shape Communication networks Mobile robots Multirobot systems Mathematical model Distributed algorithms formation navigation multi robot potential field
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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