Title :
Collision free motion control of multiple mobile robots on path network
Author :
Saito, Mamoru ; Tsumura, Toshihiro
Author_Institution :
Osaka Municipal Tech. Res. Inst., Osaka, Japan
Abstract :
Addresses collision avoidance problem among multiple mobile robots traveling over two dimensional path network. A local approach based on nonlinear programming is given to solve this problem. The basic idea of this method is to find the desired velocity vector for robot given as the optimal solution of objective function under velocity vector constraint. Collision free navigation of robot is carried out by following the desired velocity vector. This method is implemented using experimental robot and simulated one. The feasibility and effectiveness of this method is discussed through the results
Keywords :
mobile robots; navigation; nonlinear programming; collision avoidance problem; feasibility; multiple mobile robots; navigation; nonlinear programming; objective function; path network; two dimensional path network; velocity vector; Collision avoidance; Mobile robots; Motion control; Navigation; Orbital robotics; Robot kinematics; Robot programming; Robot sensing systems; Service robots; Space exploration;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174634
