Real-Time Obstacle Avoidance for a Swarm of Autonomous Mobile Robots. (24th April 2014)

• Record Type: Journal Article
• Authors: Hedjar, Ramdane; Bounkhel, Messaoud
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 4(2014)
• Publication Date: 2014-04-24
• Subjects: Obstacle Avoidance -- Smooth Motion -- Swarm Mobile Robots -- Sweeping Process -- Predictive Control; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58478
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper, we propose a computational trajectory generation algorithm for swarm mobile robots using local information in a dynamic environment. The algorithm plans a reference path based on constrained convex nonlinear optimization which avoids both static and dynamic obstacles. This algorithm is combined with one-step-ahead predictive control for a swarm of mobile robots to track the generated paths and reach the goals without collision. The numerical simulations and experimental results demonstrate the effectiveness of the proposed free-collision path planning algorithm.