DocumentCode
2755691
Title
Formated Navigation of Mobile Robots with Obstacle Avoidance
Author
Fujimori, Atsushi ; Saito, Tomoya ; Bohacs, Gabor
Author_Institution
Dept. of Mech. Eng., Shizuoka Univ.
fYear
2006
fDate
1-3 June 2006
Firstpage
1
Lastpage
6
Abstract
This paper presents a formated navigation with obstacle avoidance in which a modified leader-follower technique is combined with reactive collision avoidance behaviors. This paper indicates a couple of problems in which the obstacle avoidance is embedded in formated navigation: one is the singularity of the leader robot on the tracking control and another is the avoidance behavior of the follower robot. This paper proposes techniques for solving them and demonstrates the effectiveness in simulation and experiment
Keywords
collision avoidance; mobile robots; multi-robot systems; navigation; tracking; formated navigation; leader-follower technique; mobile robots; obstacle avoidance; tracking systems; Collision avoidance; Communication system control; Control systems; Equations; Logistics; Mechanical engineering; Mobile robots; Navigation; Nonlinear control systems; Robot kinematics; discretization; mobile robots; navigation; non-linear control; tracking systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location
Bangkok
Print_ISBN
1-4244-0024-4
Electronic_ISBN
1-4244-0025-2
Type
conf
DOI
10.1109/RAMECH.2006.252622
Filename
4018737
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