کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
766993 | 897140 | 2012 | 8 صفحه PDF | دانلود رایگان |
![عکس صفحه اول مقاله: Locally oriented potential field for controlling multi-robots Locally oriented potential field for controlling multi-robots](/preview/png/766993.png)
In this paper, we present an extension of the boundary value problem path planner (BVP PP) to control multiple robots in a robot soccer scenario. This extension is called Locally Oriented Potential Field (LOPF) and computes a potential field from the numerical solution of a BVP using local relaxations in different patches of the solution space. This permits that a single solution of the BVP endows distinct robots with different behaviors in a team. We present the steps to implement LOPF as well as several results obtained in simulation.
► We propose an approach for controlling multi robots in a robot soccer scenario.
► Our proposal uses the potential field generated by the numeric solution of a BVP.
► The local distortion of the potential field endows robots with distinct behaviors.
► We compare our approach with the traditional potential field.
Journal: Communications in Nonlinear Science and Numerical Simulation - Volume 17, Issue 12, December 2012, Pages 4664–4671