کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
412757 679682 2010 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Optimal cooperative collision avoidance between multiple robots based on Bernstein–Bézier curves
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Optimal cooperative collision avoidance between multiple robots based on Bernstein–Bézier curves
چکیده انگلیسی

In this paper a new cooperative collision-avoidance method for multiple, nonholonomic robots based on Bernstein–Bézier curves is presented. The main contribution focuses on an optimal, cooperative, collision avoidance for a multi-robot system where the velocities and accelerations of the mobile robots are constrained and the start and the goal velocity are defined for each robot. The optimal path of each robot, from the start pose to the goal pose, is obtained by minimizing the penalty function, which takes into account the sum of all the path lengths subjected to the distances between the robots, which should be larger than the minimum distance defined as the safety distance, and subjected to the velocities and accelerations, which should be lower than the maximum allowed for each robot. The model-predictive trajectory tracking is used to drive the robots on the obtained reference paths. The results of the path planning, real experiments and some future work ideas are discussed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 58, Issue 1, 31 January 2010, Pages 1–9
نویسندگان
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