Title :
Closed loop navigation for multiple holonomic vehicles
Author :
Loizou, Sawas G. ; Kyriakopoulos, Kostas J.
Author_Institution :
Control Syst. Lab., Nat. Tech. Univ. of Athens, Greece
Abstract :
We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expressions for the robot potential functions guarantee global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations.
Keywords :
closed loop systems; collision avoidance; control system analysis; convergence; mobile robots; multi-robot systems; navigation; closed loop navigation; collision avoidance; global convergence; multiple holonomic vehicles; multiple robots; navigation function methodology; real time implementation; robot potential functions; robust navigation scheme; Control systems; Convergence; Mobile robots; Motion planning; Navigation; Orbital robotics; Path planning; Robot kinematics; Robustness; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041704
