TY - GEN
T1 - Decentralized and prioritized navigation and collision avoidance for multiple mobile robots
AU - Roussos, Giannis
AU - Kyriakopoulos, Kostas J.
PY - 2012
Y1 - 2012
N2 - We present an algorithm for the decentralised navigation of multiple mobile robots. Completely decentralised Navigation Functions are constructed, creating a potential field for each robot that gives rise to a feedback control law. The construction of the potential field incorporates limited sensing and explicit prioritisation in the form of priority classes. A non-circular sensing area creates asymmetrical sensing by reducing the influence of robots and obstacles behind each robot, introducing implicit priorities resembling "rules of the road". Static and moving obstacles are also taken into account, as well as malfunctioning robots that are unable to maneuver. A decentralised feedback control law based on the gradient of the potential field ensures convergence and collision avoidance for all robots, while respecting a lower speed bound. Simulation results demonstrate the efficacy of the proposed algorithm.
AB - We present an algorithm for the decentralised navigation of multiple mobile robots. Completely decentralised Navigation Functions are constructed, creating a potential field for each robot that gives rise to a feedback control law. The construction of the potential field incorporates limited sensing and explicit prioritisation in the form of priority classes. A non-circular sensing area creates asymmetrical sensing by reducing the influence of robots and obstacles behind each robot, introducing implicit priorities resembling "rules of the road". Static and moving obstacles are also taken into account, as well as malfunctioning robots that are unable to maneuver. A decentralised feedback control law based on the gradient of the potential field ensures convergence and collision avoidance for all robots, while respecting a lower speed bound. Simulation results demonstrate the efficacy of the proposed algorithm.
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U2 - 10.1007/978-3-642-32723-0_14
DO - 10.1007/978-3-642-32723-0_14
M3 - Conference contribution
AN - SCOPUS:84870732895
SN - 9783642327223
T3 - Springer Tracts in Advanced Robotics
SP - 189
EP - 202
BT - Distributed Autonomous Robotic Systems - The 10th International Symposium, DARS 2010
T2 - 10th International Symposium on Distributed Autonomous Robotic Systems, DARS 2010
Y2 - 1 November 2010 through 3 November 2010
ER -