Closed loop navigation for multiple holonomic vehicles

Savvas G. Loizou; Kostas J. Kyriakopoulos

Closed loop navigation for multiple holonomic vehicles

Savvas G. Loizou, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Contribution to conference › Paper › peer-review

Abstract

We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expression of the robot potential functions guarantees 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.

Original language	English (US)
Pages	2861-2866
Number of pages	6
State	Published - 2002
Event	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: Sep 30 2002 → Oct 4 2002

Conference

Conference	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Switzerland
City	Lausanne
Period	9/30/02 → 10/4/02

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Cite this

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abstract = "We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expression of the robot potential functions guarantees 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.",

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AU - Kyriakopoulos, Kostas J.

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Closed loop navigation for multiple holonomic vehicles

Abstract

Conference

ASJC Scopus subject areas

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