A potential field based approach to multi robot formation navigation

Author

Schneider, Frank E. ; Wildermuth, Dennis

Author_Institution

Res. Establ. for Aplied Sci., FGAN, Wachtberg, Germany

Volume

1

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

680

Abstract

This paper presents a directed potential field approach for motion co-ordination in formations of multi-robot-systems. First a short introduction to the application of MRS formation navigation is given. The approach is briefly compared to related work. For the sub-task of moving in formation, a solution based on a potential field approach 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 results in simulation and with real robots in the presence of obstacles are presented.

Keywords

collision avoidance; mobile robots; multi-robot systems; navigation; directed potential field; motion coordination; multirobot formation navigation; multirobot-systems; obstacle avoidance; Agriculture; Communication networks; Decontamination; Mobile robots; Navigation; Orbital robotics; Robot sensing systems; Shape; Surveillance; Waste management;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285656

Filename

1285656