A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION

Defoort Michael, Arnaud Doniec, Noury Bouraqadi

Abstract

This paper presents a distributed strategy for the navigation of multiple autonomous robots. The proposed planning scheme combines a decentralized receding horizon motion planner, in which each robot computes its own planned trajectory locally, with a fast navigation controller based on artificial potential fields and sliding mode control technique. This algorithm solves the collision avoidance problem. It explicitly accounts for computation time and is decentralized, making it suited for real time applications. Simulation studies are provided in order to show the effectiveness of the proposed approach.

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Paper Citation


in Harvard Style

Michael D., Doniec A. and Bouraqadi N. (2009). A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 44-51. DOI: 10.5220/0002194900440051


in Bibtex Style

@conference{icinco09,
author={Defoort Michael and Arnaud Doniec and Noury Bouraqadi},
title={A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={44-51},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002194900440051},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A DECENTRALIZED COLLISION AVOIDANCE ALGORITHM FOR MULTI-ROBOTS NAVIGATION
SN - 978-989-674-000-9
AU - Michael D.
AU - Doniec A.
AU - Bouraqadi N.
PY - 2009
SP - 44
EP - 51
DO - 10.5220/0002194900440051