Author:
Prasad Avinesh,Sharma Bibhya,Vanualailai Jito
Abstract
SUMMARYThis paper formulates a new scalable algorithm for motion planning and control of multiple point-mass robots. These autonomous robots are designated to move safely to their goals ina prioriknown workspace cluttered with fixed and moving obstacles of arbitrary positions and sizes. The control laws proposed for obstacle and collision avoidance and target convergence ensure that the equilibrium point of the given system is asymptotically stable. Computer simulations with the proposed technique and applications to a team of two planar (RP) manipulators working together in a common workspace are presented. Also, the robustness of the system in the presence of noise is verified through simulations.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference15 articles.
1. P. Khosla and R. Volpe , “Superquadric Artificial Potential for Obstacle Avoidance and Approach,” Proceedings of the IEEE International Conference on Robotics and Automation (1988) pp. 1778–1784.
2. Coordinated multi-robot exploration
3. M. D. Adams , H. Hu and P. J. Probert , “Towards a Real-Time Architecture for Obstacle Avoidance and Path Planning in Mobile Robots,” Proceedings. IEEE International Conference on Robotics and Automation, Vol. 4 (1990).
4. A collision-free algorithm of a point-mass robot using neural networks;Sharma;J. Artif. Intell.,2012
5. B. Sharma , New Directions in the Applications of the Lyapunov-based Control Scheme to the Findpath Problem Ph.D. Thesis (University of the South Pacific, Suva, Fiji Islands, July 2008). PhD Dissertation, http://www.staff.usp.ac.fj/~sharma_b/Bibhya_PhD.pdf.
Cited by
22 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
1. Data and Information Security Issues and Challenges for Banking Sectors in Fiji;2023 IEEE Asia-Pacific Conference on Computer Science and Data Engineering (CSDE);2023-12-04
2. A formation cooperative reconnaissance strategy for multi-UGVs in partially unknown environment;Journal of the Chinese Institute of Engineers;2023-06-29
3. Vertically Sliding Revolute Robotic Arm intended for automated Pick-and-Place Industrial applications;2022 IEEE Asia-Pacific Conference on Computer Science and Data Engineering (CSDE);2022-12-18
4. Herding Predators Using Swarm Intelligence;2021 IEEE Asia-Pacific Conference on Computer Science and Data Engineering (CSDE);2021-12-08
5. Lyapunov-based Controllers of an n-link Prismatic Robot Arm;2021 IEEE Asia-Pacific Conference on Computer Science and Data Engineering (CSDE);2021-12-08