Closed loop navigation for multiple holonomic vehicles
نویسندگان
چکیده
We extend the navigation function methodology, established for single robot navigation, to the case of multiple robots. Appropriate expression of the robot potential functions guarantees global convergence. The derived closed form navigation function provides a robust navigation scheme, suitable for real time implementation. The collision avoidance and global convergence properties are verified through simulations.
منابع مشابه
Closed loop navigation for multiple non -holonomic vehicles
In this paper we incorporate dipolar potential fields used for nonholonomic navigation into a novel potential function designed for multi – robot navigation. The derived navigation function is suitable for navigation of multiple nonholonomic vehicles. A properly designed discontinuous feedback control law is applied to steer the nonholonomic vehicles. The derived closed form control scheme prov...
متن کاملSampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments
This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered...
متن کاملDecentralized Navigation Functions for Multiple Robotic Agents with Limited Sensing Capabilities
The decentralized navigation function methodology, established in our previous work for navigation of multiple holonomic agents with global sensing capabilities is extended to the case of local sensing capabilities. Each agent plans its actions without knowing the destinations of the others and the positions of those agents lying outside its sensing neighborhood. The stability properties of the...
متن کاملTracking Control and Adaptive Local Navigation for Nonholonomic Mobile Robots
Abstract. A reactive tracking control law and a flexible local navigation method for non-holonomic mobile vehicles are presented. The tracking controller enables noise tolerant trajectory following and collision avoidance with a feedback control loop through raw sensor data (laser scanner, sonars, IR). The controller needs no knowledge about absolute robot coordinates. Based on the tracking con...
متن کاملA new mathematical model for the closed-loop supply chains considering pricing for product, a fleet of heterogeneous vehicles, and inventory costs
Mathematical models have been used in many areas of supply chain management. In this paper, we present a mixed-integer non-linear programing (MINLP) model to solve a multi-period, closed-loop supply chains (CLSCs) with two echelons consist of producers and customers. In order to satisfy the demands, the producers are be able to order for materials in the beginning of each period for one or more...
متن کامل