Collision free motion control of multiple mobile robots on path network

Author

Saito, Mamoru ; Tsumura, Toshihiro

Author_Institution

Osaka Municipal Tech. Res. Inst., Osaka, Japan

fYear

1991

fDate

3-5 Nov 1991

Firstpage

1068

Abstract

Addresses collision avoidance problem among multiple mobile robots traveling over two dimensional path network. A local approach based on nonlinear programming is given to solve this problem. The basic idea of this method is to find the desired velocity vector for robot given as the optimal solution of objective function under velocity vector constraint. Collision free navigation of robot is carried out by following the desired velocity vector. This method is implemented using experimental robot and simulated one. The feasibility and effectiveness of this method is discussed through the results

Keywords

mobile robots; navigation; nonlinear programming; collision avoidance problem; feasibility; multiple mobile robots; navigation; nonlinear programming; objective function; path network; two dimensional path network; velocity vector; Collision avoidance; Mobile robots; Motion control; Navigation; Orbital robotics; Robot kinematics; Robot programming; Robot sensing systems; Service robots; Space exploration;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174634

Filename

174634