Bibliographic Details
| Title: |
Trajectory equilibrium state detection and avoidance algorithm for multi-autonomous potential field mobile robots. |
| Authors: |
Statheros, T.1, Howells, G.1, McDonald-Maier, K.2 |
| Source: |
Electronics Letters (Institution of Engineering & Technology). 7/19/2007, Vol. 43 Issue 15, p799-801. 3p. 3 Graphs. |
| Subjects: |
Mobile robots, Algorithms, Navigation, Robotics |
| Abstract: |
An exceptionally efficient algorithm for local multi-mobile robot autonomous navigation is presented. The algorithm guides each robot independently although the algorithmic principle is identical for each robot. This approach is a combination of a novel rule-based mathematical algorithm and the virtual force field (VFF) navigational method. The need for the combinational algorithm is due to VFF's inability to guide efficiently multi-autonomous robots in the same environment owing to a trajectory equilibrium state (TES). TES is a new state that dramatically degrades performance of the VFF and is firstly identified and defined within this study. Test results of the novel algorithm yield near-optimum trajectories for the mobile robots. [ABSTRACT FROM AUTHOR] |
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| Database: |
Engineering Source |
