NDLI: Formation and obstacle avoidance in the unknown environment of multi-robot system

Content Provider	IEEE Xplore Digital Library
Author	Tao Zhang Xiaqin Li Yi Zhu Song Chen Yu Cheng Jingyan Song
Copyright Year	2009
Description	Author affiliation: Department of Automation, Tsinghua University, Beijing 100084, China (Tao Zhang; Xiaqin Li; Yi Zhu; Song Chen; Jingyan Song) \|\| Department of Biomedical Engineering, Tsinghua University, Beijing 100084, China (Yu Cheng)
Abstract	This paper presents formation and obstacle avoidance in the unknown environment of multi-robot system. With the leader-following algorithm, multi-robot system can form and keep various formations and realize formation transformation. Through artificial potential field algorithm, multi-robot system can successfully avoid obstacle in the unknown environment while keeping formation. The proposed method not only can realize obstacle avoidance of multi-robot system with formation in the unknown environment, but also can be adopted in real time and applicable to many different situations. By means of Pioneer3 mobile robot platform, the simulation and experimental works, which considering various formations and unknown environment, demonstrate the effectiveness of the proposed method.
Starting Page	729
Ending Page	734
File Size	411260
Page Count	6
File Format	PDF
ISBN	9781424447749
DOI	10.1109/ROBIO.2009.5420584
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-19
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Multirobot systems Robotics and automation Robot sensing systems Real time systems Mobile robots Automatic control Laboratories Feedback Biomimetics Multiagent systems unknown environment Multi-agent system formation obstacle avoidance
Content Type	Text
Resource Type	Article

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