DocumentCode
2375988
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
Volume
3
fYear
2002
fDate
2002
Firstpage
2861
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1041704
Filename
1041704
Link To Document