Title :
Formated Navigation of Mobile Robots with Obstacle Avoidance
Author :
Fujimori, Atsushi ; Saito, Tomoya ; Bohacs, Gabor
Author_Institution :
Dept. of Mech. Eng., Shizuoka Univ.
Abstract :
This paper presents a formated navigation with obstacle avoidance in which a modified leader-follower technique is combined with reactive collision avoidance behaviors. This paper indicates a couple of problems in which the obstacle avoidance is embedded in formated navigation: one is the singularity of the leader robot on the tracking control and another is the avoidance behavior of the follower robot. This paper proposes techniques for solving them and demonstrates the effectiveness in simulation and experiment
Keywords :
collision avoidance; mobile robots; multi-robot systems; navigation; tracking; formated navigation; leader-follower technique; mobile robots; obstacle avoidance; tracking systems; Collision avoidance; Communication system control; Control systems; Equations; Logistics; Mechanical engineering; Mobile robots; Navigation; Nonlinear control systems; Robot kinematics; discretization; mobile robots; navigation; non-linear control; tracking systems;
Conference_Titel :
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location :
Bangkok
Print_ISBN :
1-4244-0024-4
Electronic_ISBN :
1-4244-0025-2
DOI :
10.1109/RAMECH.2006.252622
