Robocoop: tools for cooperative mobile robots autonomous navigation
نویسندگان
چکیده
This paper outlines some of the key characteristics of the navigation of a swarm of autonomous mobile robots. The results in localisation problem using only one landmark are given. A decentralized path planning algorithm for the swarm which takes into account the physical limitations of the robot and its kinematic model is presented. Moreover, a tracking algorithm is developed to guarantee that each robot follows the desired trajectory. We also discuss the strategies designed in order to increase the swarm efficiency. Simulation on Player/Stage and experimental results on three nonholonomic robots are provided to show the effectiveness of the proposed algorithms.
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